Pub Date : 2018-07-09DOI: 10.1504/IJVAS.2018.10014264
M. Khalfaoui, K. Hartani, A. Merah, N. Aouadj
This paper proposes a new approach to develop a preventive driver assistance system for lane keeping of electric vehicle. It is used to add a steering torque to that of the driver when there is degradation in driver performance (fatigue, drowsiness or inattention). Based on cybernetic model of driver, the driver's behaviour has been estimated by using extended Kalman filter. An optimal linear quadratic regulator (LQR) controller is designed to impose a corrected steering torque on the steering wheel by minimising the cost function that contains all signals related to the electric vehicle and the driver's behaviour. The proposed controller model based on three degrees of freedom has been implemented on an electric vehicle using MATLAB/Simulink environment. The performance of the cooperative operation between the driver and the active steering torque controller is further evaluated by simulation tests.
{"title":"Development of shared steering torque system of electric vehicles in presence of driver behaviour estimation","authors":"M. Khalfaoui, K. Hartani, A. Merah, N. Aouadj","doi":"10.1504/IJVAS.2018.10014264","DOIUrl":"https://doi.org/10.1504/IJVAS.2018.10014264","url":null,"abstract":"This paper proposes a new approach to develop a preventive driver assistance system for lane keeping of electric vehicle. It is used to add a steering torque to that of the driver when there is degradation in driver performance (fatigue, drowsiness or inattention). Based on cybernetic model of driver, the driver's behaviour has been estimated by using extended Kalman filter. An optimal linear quadratic regulator (LQR) controller is designed to impose a corrected steering torque on the steering wheel by minimising the cost function that contains all signals related to the electric vehicle and the driver's behaviour. The proposed controller model based on three degrees of freedom has been implemented on an electric vehicle using MATLAB/Simulink environment. The performance of the cooperative operation between the driver and the active steering torque controller is further evaluated by simulation tests.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47827918","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 : 2018-07-09DOI: 10.1504/IJVAS.2018.10014255
A. Zambom
This paper presents an optimisation method to search for the optimal trajectory of an unmanned mobile robot while avoiding stationary and moving obstacles that may be in collision route. In order to meet the kinematic restrictions of the vehicle, the path is estimated using a finite-dimensional approximating space generated by B-splines basis functions. A penalised continuous functional is used to convert the constrained minimisation problem into an unconstrained one. The optimisation is performed through a genetic algorithm that searches the finite-dimensional space of the B-splines coefficients which determine the trajectory to be travelled. Experimental results with linear and nonlinear moving obstacle fields illustrate the estimated optimal trajectories.
{"title":"Optimal mobile robot path planning in the presence of moving obstacles","authors":"A. Zambom","doi":"10.1504/IJVAS.2018.10014255","DOIUrl":"https://doi.org/10.1504/IJVAS.2018.10014255","url":null,"abstract":"This paper presents an optimisation method to search for the optimal trajectory of an unmanned mobile robot while avoiding stationary and moving obstacles that may be in collision route. In order to meet the kinematic restrictions of the vehicle, the path is estimated using a finite-dimensional approximating space generated by B-splines basis functions. A penalised continuous functional is used to convert the constrained minimisation problem into an unconstrained one. The optimisation is performed through a genetic algorithm that searches the finite-dimensional space of the B-splines coefficients which determine the trajectory to be travelled. Experimental results with linear and nonlinear moving obstacle fields illustrate the estimated optimal trajectories.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45525177","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 : 2018-07-09DOI: 10.1504/ijvas.2018.093118
Z. Huang
In view of the traditional intelligent vehicle routing method, the problems of inaccurate selection, long time and low efficiency have always existed. We proposed a path selection method for intelligent vehicle based on fuzzy big data game. Through analysis of the modelling principle of intelligent transportation vehicle routing and the relevant principle of the least squares algorithm, we calculated the function of risk factors in the path selection of intelligent transportation vehicles and established the conditional constraint model for vehicle routing. By using the depth neural network method, the path congestion state was identified, and the intelligent vehicle routing database was established. The simulation results show that the extraction time and accuracy of the method are better than those of the traditional path selection method in the improved method.
{"title":"Path selection method of intelligent vehicle based on fuzzy big data game","authors":"Z. Huang","doi":"10.1504/ijvas.2018.093118","DOIUrl":"https://doi.org/10.1504/ijvas.2018.093118","url":null,"abstract":"In view of the traditional intelligent vehicle routing method, the problems of inaccurate selection, long time and low efficiency have always existed. We proposed a path selection method for intelligent vehicle based on fuzzy big data game. Through analysis of the modelling principle of intelligent transportation vehicle routing and the relevant principle of the least squares algorithm, we calculated the function of risk factors in the path selection of intelligent transportation vehicles and established the conditional constraint model for vehicle routing. By using the depth neural network method, the path congestion state was identified, and the intelligent vehicle routing database was established. The simulation results show that the extraction time and accuracy of the method are better than those of the traditional path selection method in the improved method.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/ijvas.2018.093118","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46129410","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 : 2017-10-10DOI: 10.1504/IJVAS.2017.087184
Y. Lue, Shun-Chang Chang
This paper details the non-linear dynamic behaviours and control of a non-linear semi-active suspension system using a quarter-car model under kinematic excitation by a road surface profile. The results of local and global bifurcation analysis indicate that the hysteretic non-linear characteristics of damping force cause the suspension system to exhibit codimension-two bifurcation, resulting in homoclinic orbits and a pitchfork bifurcation. The complex dynamic behaviour of automotive suspension systems was examined using a bifurcation diagram, phase portraits, a Poincare map, and frequency spectra. We also used Lyapunov exponent to identify the occurrence of chaotic motion and verify our analysis. Finally, a dither signal control was used to convert chaotic behaviours into periodic motion. Simulation results verify the effectiveness of the proposed control method.
{"title":"Non-linear dynamics and control of an automotive suspension system based on local and global bifurcation analysis","authors":"Y. Lue, Shun-Chang Chang","doi":"10.1504/IJVAS.2017.087184","DOIUrl":"https://doi.org/10.1504/IJVAS.2017.087184","url":null,"abstract":"This paper details the non-linear dynamic behaviours and control of a non-linear semi-active suspension system using a quarter-car model under kinematic excitation by a road surface profile. The results of local and global bifurcation analysis indicate that the hysteretic non-linear characteristics of damping force cause the suspension system to exhibit codimension-two bifurcation, resulting in homoclinic orbits and a pitchfork bifurcation. The complex dynamic behaviour of automotive suspension systems was examined using a bifurcation diagram, phase portraits, a Poincare map, and frequency spectra. We also used Lyapunov exponent to identify the occurrence of chaotic motion and verify our analysis. Finally, a dither signal control was used to convert chaotic behaviours into periodic motion. Simulation results verify the effectiveness of the proposed control method.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2017.087184","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42092264","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 : 2017-10-10DOI: 10.1504/IJVAS.2017.10008213
M. Mansor, K. Hudha, Z. A. Kadir, N. H. Amer, V. R. Aparow
While firing on the move, the handling performance of an armoured vehicle is affected, thus causing it to lose its directional stability. This is due to an impulse force generated at the centre of the gun turret, which can produce an unwanted yaw moment at the centre of gravity of the armoured vehicle. In order to reject the unwanted yaw moment, a new hybrid control strategy known as Neural-PI controller had been introduced by combining neural network system and conventional PI controller. This paper developed 14 DOF of armoured vehicle and 2 DOF of Pitman arm steering system. Other than that, determination of the most suitable activation function to be implemented in the Neural-PI controller has been carried out and optimised by using the Genetic Algorithm (GA) method. The performance of the controller was evaluated by comparing the conventional PI controller with the Neural-PI controller implemented with different activation functions.
{"title":"Modelling and optimisation of active front wheel steering system control for armoured vehicle for firing disturbance rejection","authors":"M. Mansor, K. Hudha, Z. A. Kadir, N. H. Amer, V. R. Aparow","doi":"10.1504/IJVAS.2017.10008213","DOIUrl":"https://doi.org/10.1504/IJVAS.2017.10008213","url":null,"abstract":"While firing on the move, the handling performance of an armoured vehicle is affected, thus causing it to lose its directional stability. This is due to an impulse force generated at the centre of the gun turret, which can produce an unwanted yaw moment at the centre of gravity of the armoured vehicle. In order to reject the unwanted yaw moment, a new hybrid control strategy known as Neural-PI controller had been introduced by combining neural network system and conventional PI controller. This paper developed 14 DOF of armoured vehicle and 2 DOF of Pitman arm steering system. Other than that, determination of the most suitable activation function to be implemented in the Neural-PI controller has been carried out and optimised by using the Genetic Algorithm (GA) method. The performance of the controller was evaluated by comparing the conventional PI controller with the Neural-PI controller implemented with different activation functions.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44551294","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 : 2017-10-10DOI: 10.1504/IJVAS.2017.10008214
Qinghe Liu, Lijun Zhao, Zhibin Tan, Wen Chen
In order to solve the problem of global path planning for autonomous vehicles in off-road environment, an improved A-star path-searching algorithm considering the vehicle powertrain and fuel economy performance is proposed in this paper. First, we discuss the digital elevation model (DEM) map adopted to describe off-road earth surface generally. Then, we define three important concepts regarding path planners on the basis of the DEM map. Second, we design a novel comprehensive cost function for A-star algorithm with shorter Euclidean distance and less fuel consumption. At last, the algorithm is simulated on a DEM map through several different missions. The simulation results show that the proposed algorithm is effective and robust in finding global path in complex terrains.
{"title":"Global path planning for autonomous vehicles in off-road environment via an A-star algorithm","authors":"Qinghe Liu, Lijun Zhao, Zhibin Tan, Wen Chen","doi":"10.1504/IJVAS.2017.10008214","DOIUrl":"https://doi.org/10.1504/IJVAS.2017.10008214","url":null,"abstract":"In order to solve the problem of global path planning for autonomous vehicles in off-road environment, an improved A-star path-searching algorithm considering the vehicle powertrain and fuel economy performance is proposed in this paper. First, we discuss the digital elevation model (DEM) map adopted to describe off-road earth surface generally. Then, we define three important concepts regarding path planners on the basis of the DEM map. Second, we design a novel comprehensive cost function for A-star algorithm with shorter Euclidean distance and less fuel consumption. At last, the algorithm is simulated on a DEM map through several different missions. The simulation results show that the proposed algorithm is effective and robust in finding global path in complex terrains.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44272793","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 : 2017-10-10DOI: 10.1504/IJVAS.2017.10008198
Daniel E. Williams
This paper presents a new means of steering redundancy for autonomous three-axle vehicles that also cost effectively increases vehicle functionality. Functional enhancements to increase manoeuvrability and decrease tyre wear are already appreciated in niche vehicle markets and are reviewed in this work. Steering the rear axle to provide redundancy in event of a primary steering axle failure has recently been suggested. This prior work is built upon to present a new three-axle vehicle configuration that improves manoeuvrability, increases payload capacity, and provides better redundant directional control while maintaining the tyre wear improvements existing in rear axle steer vehicles. Some of these same benefits could be achieved by steering the rear of a two-axle vehicle, but it is shown that the concept creates more value when applied to three-axle vehicles thereby uniquely improving the value proposition for autonomous commercial vehicles.
{"title":"Three-axle commercial vehicle with enhanced functionality and steering redundancy","authors":"Daniel E. Williams","doi":"10.1504/IJVAS.2017.10008198","DOIUrl":"https://doi.org/10.1504/IJVAS.2017.10008198","url":null,"abstract":"This paper presents a new means of steering redundancy for autonomous three-axle vehicles that also cost effectively increases vehicle functionality. Functional enhancements to increase manoeuvrability and decrease tyre wear are already appreciated in niche vehicle markets and are reviewed in this work. Steering the rear axle to provide redundancy in event of a primary steering axle failure has recently been suggested. This prior work is built upon to present a new three-axle vehicle configuration that improves manoeuvrability, increases payload capacity, and provides better redundant directional control while maintaining the tyre wear improvements existing in rear axle steer vehicles. Some of these same benefits could be achieved by steering the rear of a two-axle vehicle, but it is shown that the concept creates more value when applied to three-axle vehicles thereby uniquely improving the value proposition for autonomous commercial vehicles.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49023576","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 : 2017-10-10DOI: 10.1504/IJVAS.2017.10008208
Hui Lu, Qingwei Liu, Yue Shi, F. Yu
The real-time information of vehicle sideslip angle and tyre-road forces of individual wheels can help advanced vehicle chassis control systems to enhance vehicle handling, stability and safety. But in practice, these states are difficult to measure directly for technical and economic reasons. In order to estimate these states, this paper proposes an observer based on Extended Kalman Filter (EKF) by using a 7-DOF vehicle model. According to the Dugoff's tyre model, the lateral force can be expressed by a function of the longitudinal force with the knowledge of tyre work condition. Based on this concept, the reference vehicle model is modified to identify the lateral forces of each braked wheel without the online information of vertical load and tyre-road friction coefficient. The simulation results indicate that the longitudinal and lateral forces of each wheel can be well estimated under combined cornering and braking condition.
{"title":"Estimation of vehicle sideslip angle and individual tyre-road forces based on tyre friction circle concept","authors":"Hui Lu, Qingwei Liu, Yue Shi, F. Yu","doi":"10.1504/IJVAS.2017.10008208","DOIUrl":"https://doi.org/10.1504/IJVAS.2017.10008208","url":null,"abstract":"The real-time information of vehicle sideslip angle and tyre-road forces of individual wheels can help advanced vehicle chassis control systems to enhance vehicle handling, stability and safety. But in practice, these states are difficult to measure directly for technical and economic reasons. In order to estimate these states, this paper proposes an observer based on Extended Kalman Filter (EKF) by using a 7-DOF vehicle model. According to the Dugoff's tyre model, the lateral force can be expressed by a function of the longitudinal force with the knowledge of tyre work condition. Based on this concept, the reference vehicle model is modified to identify the lateral forces of each braked wheel without the online information of vertical load and tyre-road friction coefficient. The simulation results indicate that the longitudinal and lateral forces of each wheel can be well estimated under combined cornering and braking condition.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43001367","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 : 2017-04-11DOI: 10.1504/IJVAS.2017.10004252
M. Mehdizadeh, M. Soleymani, A. Abolmasoumi
Parametric uncertainties due to unknown parameters of the model and unmodelled dynamics are two factors which degrade performance of the vehicle stability control systems. In this paper, a modified sliding mode control system is proposed to enhance the handling performance of a passenger car via differential braking in the presence of the road and model uncertainties. The proposed control system consists of two control loops and stabilises the vehicle via minimising the desired and achieved yaw rates. The inner loop which utilises a sliding mode controller is responsible for calculating the required yaw moment. The outer control loop which plays the role of supervisor controller determines the braking pressure at each wheel. The controller is designed based on the reduced bicycle model and is implemented in a virtual prototype model with sufficient degrees of freedom. The simulations results establish the ability of the proposed control system in vehicle rapid stabilising under a severe manoeuvre. Moreover, robustness of the controller in the presence of vehicle mass and road friction coefficient variations was proved.
{"title":"Stability control of a road vehicle considering model and parametric uncertainties","authors":"M. Mehdizadeh, M. Soleymani, A. Abolmasoumi","doi":"10.1504/IJVAS.2017.10004252","DOIUrl":"https://doi.org/10.1504/IJVAS.2017.10004252","url":null,"abstract":"Parametric uncertainties due to unknown parameters of the model and unmodelled dynamics are two factors which degrade performance of the vehicle stability control systems. In this paper, a modified sliding mode control system is proposed to enhance the handling performance of a passenger car via differential braking in the presence of the road and model uncertainties. The proposed control system consists of two control loops and stabilises the vehicle via minimising the desired and achieved yaw rates. The inner loop which utilises a sliding mode controller is responsible for calculating the required yaw moment. The outer control loop which plays the role of supervisor controller determines the braking pressure at each wheel. The controller is designed based on the reduced bicycle model and is implemented in a virtual prototype model with sufficient degrees of freedom. The simulations results establish the ability of the proposed control system in vehicle rapid stabilising under a severe manoeuvre. Moreover, robustness of the controller in the presence of vehicle mass and road friction coefficient variations was proved.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41639634","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 : 2017-04-11DOI: 10.1504/IJVAS.2017.10004258
Görkem Büyükyildiz, Olivier Pion, Christoph Hildebrandt, M. Sedlmayr, R. Henze, F. Küçükay
Reliable knowledge of specific driver characteristics is important for the adaptation of assistance systems to the driver. The increased safety and comfort based on this knowledge can improve customer acceptance. This study presents a method of identifying specific driver characteristics, i.e. a personal 'fingerprint'. This can be used to draw conclusions about the driving style, age and performance of the driver. To identify the fingerprint, the driver is classified based on the individual driver behaviour, and longitudinal and lateral control behaviour are analysed. The method of identifying the driving style and its implementation into the vehicle using a 'driving style identifier' are the main focuses of this paper. To improve the identifier, lane camera and radar data is taken into account in addition to vehicle signals, such as velocity, longitudinal and lateral acceleration. Several examples of the process of determining the objective parameters from longitudinal and lateral control behaviour are illustrated.
{"title":"Identification of the driving style for the adaptation of assistance systems","authors":"Görkem Büyükyildiz, Olivier Pion, Christoph Hildebrandt, M. Sedlmayr, R. Henze, F. Küçükay","doi":"10.1504/IJVAS.2017.10004258","DOIUrl":"https://doi.org/10.1504/IJVAS.2017.10004258","url":null,"abstract":"Reliable knowledge of specific driver characteristics is important for the adaptation of assistance systems to the driver. The increased safety and comfort based on this knowledge can improve customer acceptance. This study presents a method of identifying specific driver characteristics, i.e. a personal 'fingerprint'. This can be used to draw conclusions about the driving style, age and performance of the driver. To identify the fingerprint, the driver is classified based on the individual driver behaviour, and longitudinal and lateral control behaviour are analysed. The method of identifying the driving style and its implementation into the vehicle using a 'driving style identifier' are the main focuses of this paper. To improve the identifier, lane camera and radar data is taken into account in addition to vehicle signals, such as velocity, longitudinal and lateral acceleration. Several examples of the process of determining the objective parameters from longitudinal and lateral control behaviour are illustrated.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43248699","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：