Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473366
L. Gargiulo, C. Balorin, A. Durocher, T. Gherman, M. Houry, J. Hatchressian, Y. Perrot, H. Roche, E. Villedieu
On fusion experimental reactors, in-vessel remote operations will be mandatory to allow maintenance interventions and limit personal radiation exposures. In addition, mini-invasive robotics inspections will be required between plasma pulses for safety issues management or to assist the scientific programs. These remote-controlled devices will have to offer good availability and reliability levels while keeping the facility conditions required for plasma operations. CEA laboratories have developed a robot prototype called Articulated Inspection Arm (AIA) for mini-invasive inspection of Plasma Facing Components (PFC). This capability was demonstrated at the end of 2008 by remotely inspecting the plasma vessel of Tore Supra facility without breaking Ultra High Vacuum (10-6 Pa) and temperature conditioning (120°C). After this premiere, numerous applications have been identified and CEA, with industrial partnership, initiated studies of embeddable diagnostics for assisting tokamaks operation. These developments cover wide fields such as safety with PFC viewing movie-camera, radioactivity measurement, dust management, scientific missions related to PFC behavior monitoring or diagnostics calibration and plant availability with routine vessels inspections and leak localization devices. Preliminary analyses are presented and results obtained with gas leak localization probes are described in the paper. In particular, experimentations performed under vacuum conditions demonstrating leaks sensibility and reactive response signals as a function of the distance between the remote detectors and the leaking components are presented.
{"title":"Mini-invasive robotic diagnostics for fusion machines","authors":"L. Gargiulo, C. Balorin, A. Durocher, T. Gherman, M. Houry, J. Hatchressian, Y. Perrot, H. Roche, E. Villedieu","doi":"10.1109/CARPI.2012.6473366","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473366","url":null,"abstract":"On fusion experimental reactors, in-vessel remote operations will be mandatory to allow maintenance interventions and limit personal radiation exposures. In addition, mini-invasive robotics inspections will be required between plasma pulses for safety issues management or to assist the scientific programs. These remote-controlled devices will have to offer good availability and reliability levels while keeping the facility conditions required for plasma operations. CEA laboratories have developed a robot prototype called Articulated Inspection Arm (AIA) for mini-invasive inspection of Plasma Facing Components (PFC). This capability was demonstrated at the end of 2008 by remotely inspecting the plasma vessel of Tore Supra facility without breaking Ultra High Vacuum (10-6 Pa) and temperature conditioning (120°C). After this premiere, numerous applications have been identified and CEA, with industrial partnership, initiated studies of embeddable diagnostics for assisting tokamaks operation. These developments cover wide fields such as safety with PFC viewing movie-camera, radioactivity measurement, dust management, scientific missions related to PFC behavior monitoring or diagnostics calibration and plant availability with routine vessels inspections and leak localization devices. Preliminary analyses are presented and results obtained with gas leak localization probes are described in the paper. In particular, experimentations performed under vacuum conditions demonstrating leaks sensibility and reactive response signals as a function of the distance between the remote detectors and the leaking components are presented.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115878532","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473372
H. Simas, J. F. Golin, E. D. de Pieri, D. Martins
This paper describes an automated system called Roboturb, designed for inspection and maintenance tasks of rotor blades of hydroelectric turbines damaged by cavitation. The main element of this system is a robotic device, with six rotative joints, designed to displace on a portable and flexible rail, configuring a redundant robot with seven degrees of freedom. The robot is supplemented with a set of developed acessories composed by a laser measuring head, to scan the eroded area, a plasma welding system, a teach-pendant for robot operation, an industrial computer, interfaces and power cards for motors and drive systems. The paper presents a description of the robot and its components, and an application of the system in a real task, validating the project and demonstrating its potencial to realize a controlled maintenance.
{"title":"Development of an automated system for cavitation repairing in rotors of large hydroelectric plants","authors":"H. Simas, J. F. Golin, E. D. de Pieri, D. Martins","doi":"10.1109/CARPI.2012.6473372","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473372","url":null,"abstract":"This paper describes an automated system called Roboturb, designed for inspection and maintenance tasks of rotor blades of hydroelectric turbines damaged by cavitation. The main element of this system is a robotic device, with six rotative joints, designed to displace on a portable and flexible rail, configuring a redundant robot with seven degrees of freedom. The robot is supplemented with a set of developed acessories composed by a laser measuring head, to scan the eroded area, a plasma welding system, a teach-pendant for robot operation, an industrial computer, interfaces and power cards for motors and drive systems. The paper presents a description of the robot and its components, and an application of the system in a real task, validating the project and demonstrating its potencial to realize a controlled maintenance.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128295387","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473358
F. Pomerleau, A. Breitenmoser, Ming Liu, F. Colas, R. Siegwart
In the context of environment reconstruction for inspection, it is important to handle sensor noise properly to avoid distorted representations. A short survey of available sensors is realize to help their selection based on the payload capability of a robot. We then propose uncertainty models based on empirical results for three models of laser rangefinders: Hokuyo URG-04LX, UTM-30LX and the Sick LMS-151. The methodology, used to characterize those sensors, targets more specifically different metallic materials which often give distorted images due to reflexion. We also evaluate the impact of sensor noise on surface normal vector reconstruction and conclude with observations about the impact of sunlight and reflexions.
{"title":"Noise characterization of depth sensors for surface inspections","authors":"F. Pomerleau, A. Breitenmoser, Ming Liu, F. Colas, R. Siegwart","doi":"10.1109/CARPI.2012.6473358","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473358","url":null,"abstract":"In the context of environment reconstruction for inspection, it is important to handle sensor noise properly to avoid distorted representations. A short survey of available sensors is realize to help their selection based on the payload capability of a robot. We then propose uncertainty models based on empirical results for three models of laser rangefinders: Hokuyo URG-04LX, UTM-30LX and the Sick LMS-151. The methodology, used to characterize those sensors, targets more specifically different metallic materials which often give distorted images due to reflexion. We also evaluate the impact of sensor noise on surface normal vector reconstruction and conclude with observations about the impact of sunlight and reflexions.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128845440","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473357
Mazin I. Al-saedi, Huapeng Wu, H. Handroos
This paper studies the dynamics and control of a hybrid parallel-serial mobile robot designed for the assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) under the effect of machining forces using floating frame of reference method FFRF. The finite element (FE) models of flexible rods are obtained by a Lagrangian formulation, and the Craig-Bampton modal vectors are extracted from these FE models. The assembling of component models using the constrained Lagrange's equations and the Lagrange multiplier method for the six closed loop mechanisms leads to a system dynamic model. Subsequently, the reaction forces between the parallel part and the serial part were used to study the dynamics of the serial robot. A hydraulic control system of a linearized PID is implemented independently to control each hydraulic cylinder of the robot based on position predictions. Finally, simulated results that demonstrate the robot behavior are presented.
{"title":"Flexible multibody dynamics and control of a novel hydraulically driven hybrid redundant robot machine","authors":"Mazin I. Al-saedi, Huapeng Wu, H. Handroos","doi":"10.1109/CARPI.2012.6473357","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473357","url":null,"abstract":"This paper studies the dynamics and control of a hybrid parallel-serial mobile robot designed for the assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) under the effect of machining forces using floating frame of reference method FFRF. The finite element (FE) models of flexible rods are obtained by a Lagrangian formulation, and the Craig-Bampton modal vectors are extracted from these FE models. The assembling of component models using the constrained Lagrange's equations and the Lagrange multiplier method for the six closed loop mechanisms leads to a system dynamic model. Subsequently, the reaction forces between the parallel part and the serial part were used to study the dynamics of the serial robot. A hydraulic control system of a linearized PID is implemented independently to control each hydraulic cylinder of the robot based on position predictions. Finally, simulated results that demonstrate the robot behavior are presented.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126992409","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473364
L. Marconi, R. Naldi, A. Torre, J. Nikolic, C. Huerzeler, G. Caprari, E. Zwicker, B. Siciliano, V. Lippiello, R. Carloni, S. Stramigioli
This video paper outlines some of the results achieved during the first two years of the ongoing European project AIRobots (Innovative Aerial Service Robots for Remote Inspection by Contact, www.airobots.eu). Goal of AIRobots is to develop a new generation of aerial service robots capable of supporting human beings in all those activities that require the ability to interact actively and safely with environments not constrained on ground but, indeed, airborne. The flight tests presented in the video show the capabilities of the prototypes developed in the project to accomplish tasks including 3D environmental reconstruction using stereo vision, obstacle avoidance and remote manipulation by means of an on-board robotic arm.
{"title":"Aerial Service Robots: An overview of the AIRobots activity","authors":"L. Marconi, R. Naldi, A. Torre, J. Nikolic, C. Huerzeler, G. Caprari, E. Zwicker, B. Siciliano, V. Lippiello, R. Carloni, S. Stramigioli","doi":"10.1109/CARPI.2012.6473364","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473364","url":null,"abstract":"This video paper outlines some of the results achieved during the first two years of the ongoing European project AIRobots (Innovative Aerial Service Robots for Remote Inspection by Contact, www.airobots.eu). Goal of AIRobots is to develop a new generation of aerial service robots capable of supporting human beings in all those activities that require the ability to interact actively and safely with environments not constrained on ground but, indeed, airborne. The flight tests presented in the video show the capabilities of the prototypes developed in the project to accomplish tasks including 3D environmental reconstruction using stereo vision, obstacle avoidance and remote manipulation by means of an on-board robotic arm.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115408139","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473347
B. Hazel, J. Côté, P. Mongenot, M. Sabourin, F. Paquet
This paper presents the results of a partnership between Alstom and Hydro-Québec for the development of a new factory robotic polishing process. The goal is to improve turbine efficiency by reducing surface roughness to a level that is unattainable with conventional methods. Three entire axial-flow turbines for Hydro-Québec's Sarcelle power station were polished with this new technique at the Alstom manufacturing plant in Sorel-Tracy as a pilot project between July 2010 and March 2011. The surface finish was lowered from Ra = 15 μm to Ra = 0.1 μm, and the waviness left by numerical control machining was grinded away at an overall rate of 5 h/m2. The reduction of surface roughness from the standard IEC recommendation of Ra=3 μm to Ra=0.1 μm resulted in a 0.5% increase in turbine efficiency. This safe, new method proves its great potential for enhanced surface finish quality, productivity and worker safety.
{"title":"Robotic polishing of turbine runners","authors":"B. Hazel, J. Côté, P. Mongenot, M. Sabourin, F. Paquet","doi":"10.1109/CARPI.2012.6473347","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473347","url":null,"abstract":"This paper presents the results of a partnership between Alstom and Hydro-Québec for the development of a new factory robotic polishing process. The goal is to improve turbine efficiency by reducing surface roughness to a level that is unattainable with conventional methods. Three entire axial-flow turbines for Hydro-Québec's Sarcelle power station were polished with this new technique at the Alstom manufacturing plant in Sorel-Tracy as a pilot project between July 2010 and March 2011. The surface finish was lowered from Ra = 15 μm to Ra = 0.1 μm, and the waviness left by numerical control machining was grinded away at an overall rate of 5 h/m2. The reduction of surface roughness from the standard IEC recommendation of Ra=3 μm to Ra=0.1 μm resulted in a 0.5% increase in turbine efficiency. This safe, new method proves its great potential for enhanced surface finish quality, productivity and worker safety.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114542596","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473365
Alexis Leibbrandt, G. Caprari, U. Angst, Roland Siegwart, R. Flatt, B. Elsener
This paper introduces a climbing robot for corrosion monitoring of reinforced concrete structures such as cooling towers, dams or bridges. The robot combines a vortex adhesion mechanism with a wheel electrode sensor for potential mapping of the concrete surface. A detailed description of the system is presented first. A special effort was made during the design in order to develop a lightweight device. The climbing robot is well suited for rough surfaces and can climb on vertical surfaces or move upside-down. The experiments that have been done to validate the concept are presented afterwards. They show that the climbing robot has several advantages over the traditional corrosion monitoring technique. This robot will therefore provide engineers in charge of infrastructure maintenance with the means to do their job much better than they can today. It offers them a way to circumvent all present barriers and brings a radical innovation in this area.
{"title":"Climbing robot for corrosion monitoring of reinforced concrete structures","authors":"Alexis Leibbrandt, G. Caprari, U. Angst, Roland Siegwart, R. Flatt, B. Elsener","doi":"10.1109/CARPI.2012.6473365","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473365","url":null,"abstract":"This paper introduces a climbing robot for corrosion monitoring of reinforced concrete structures such as cooling towers, dams or bridges. The robot combines a vortex adhesion mechanism with a wheel electrode sensor for potential mapping of the concrete surface. A detailed description of the system is presented first. A special effort was made during the design in order to develop a lightweight device. The climbing robot is well suited for rough surfaces and can climb on vertical surfaces or move upside-down. The experiments that have been done to validate the concept are presented afterwards. They show that the climbing robot has several advantages over the traditional corrosion monitoring technique. This robot will therefore provide engineers in charge of infrastructure maintenance with the means to do their job much better than they can today. It offers them a way to circumvent all present barriers and brings a radical innovation in this area.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124908381","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473342
S. Montambault, N. Pouliot, M. Lepage
LineScout is a transmission line inspection robot developed by Hydro-Québec. In operation since 2006, it has been deployed on a few major grids throughout the world. Over the years, the technology has demonstrated its value for grid operators, notably by contributing to the reliability, the sustainability and the availability of transmission networks. This paper presents the latest developments and adapted systems implemented on LineScout as well as a summary on some field deployments performed over the last two years.
{"title":"On the latest field deployments of LineScout Technology on live transmission networks","authors":"S. Montambault, N. Pouliot, M. Lepage","doi":"10.1109/CARPI.2012.6473342","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473342","url":null,"abstract":"LineScout is a transmission line inspection robot developed by Hydro-Québec. In operation since 2006, it has been deployed on a few major grids throughout the world. Over the years, the technology has demonstrated its value for grid operators, notably by contributing to the reliability, the sustainability and the availability of transmission networks. This paper presents the latest developments and adapted systems implemented on LineScout as well as a summary on some field deployments performed over the last two years.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123025845","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473370
A. Imhof, M. Oetiker, B. Jensen
This paper presents the design of a novel approach to Wall-Following using a single distance sensor. Our concept takes into account distance measurements and odometry information from the robot. This information is combined using a Kalman filter, to estimate the relative position of the robot to the wall. A tracking controller is used to steer the robot with constant forward velocity along the wall while correcting distance errors. Simulations and tests with a real track drive robot are used to validate the approach. The comparison to a conventional two-sensor setup shows comparable precision.
{"title":"Wall following for autonomous robot navigation","authors":"A. Imhof, M. Oetiker, B. Jensen","doi":"10.1109/CARPI.2012.6473370","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473370","url":null,"abstract":"This paper presents the design of a novel approach to Wall-Following using a single distance sensor. Our concept takes into account distance measurements and odometry information from the robot. This information is combined using a Kalman filter, to estimate the relative position of the robot to the wall. A tracking controller is used to steer the robot with constant forward velocity along the wall while correcting distance errors. Simulations and tests with a real track drive robot are used to validate the approach. The comparison to a conventional two-sensor setup shows comparable precision.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125182607","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473356
A. Fonseca, R. Abdo, J. Alberto
This paper is a brief summary of the design and manufacture of an electric robot, whose purpose is to inspect transmission lines, aiming to find defects, such as broken conductors, broken space dampers etc. This project was developed by a group of electrician, mechanical, electronics and automation engineers from the following areas in FURNAS: the technical center for tests and measurements, the division of transmission lines and the regional department of Parana. Thus the group was very heterogeneous, combining engineering staff and people who actually face the difficulties in inspecting transmission lines.
{"title":"Robot for inspection of transmission lines","authors":"A. Fonseca, R. Abdo, J. Alberto","doi":"10.1109/CARPI.2012.6473356","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473356","url":null,"abstract":"This paper is a brief summary of the design and manufacture of an electric robot, whose purpose is to inspect transmission lines, aiming to find defects, such as broken conductors, broken space dampers etc. This project was developed by a group of electrician, mechanical, electronics and automation engineers from the following areas in FURNAS: the technical center for tests and measurements, the division of transmission lines and the regional department of Parana. Thus the group was very heterogeneous, combining engineering staff and people who actually face the difficulties in inspecting transmission lines.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122574085","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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