Pub Date : 2009-06-03DOI: 10.1109/IVS.2009.5164455
H. Fukuoka, Y. Shirai, K. Yamada
This paper proposes a concept of a driving support system that is adaptive to the state of surrounding vehicle drivers. This paper shows the effectiveness of the concept by a simulation study for a case that the driver support system is a rear-end pre-crash safety system and the state of surrounding vehicle drivers is the expected reaction time of the following vehicle driver. This paper also shows the possibility that the probability distribution of the expected reaction time of the following vehicle driver can be estimated from the vehicle behavior. From simulation results, the effectiveness of the concept is shown.
{"title":"Driving support system adaptive to the state of surrounding vehicle drivers","authors":"H. Fukuoka, Y. Shirai, K. Yamada","doi":"10.1109/IVS.2009.5164455","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164455","url":null,"abstract":"This paper proposes a concept of a driving support system that is adaptive to the state of surrounding vehicle drivers. This paper shows the effectiveness of the concept by a simulation study for a case that the driver support system is a rear-end pre-crash safety system and the state of surrounding vehicle drivers is the expected reaction time of the following vehicle driver. This paper also shows the possibility that the probability distribution of the expected reaction time of the following vehicle driver can be estimated from the vehicle behavior. From simulation results, the effectiveness of the concept is shown.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132629350","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164288
A. Haselhoff, A. Kummert
In recent years, the Viola and Jones rapid object detection approach became very popular. One aspect why this approach achieved acceptance is the numerical efficient computation of the Haar-like features on basis of the integral image. This efficiency is essential for sliding window techniques, where features have to be extracted for huge amounts of data. The main contribution of this paper is an efficient method to compute Triangle filters for feature extraction based on four integral images. The 2D Triangle filters are derived from 1D Bartlett functions. A comparison of Haar-like filters and the new Triangle filters is given by means of empirical results. The receiver operator characteristics reveal the superiority of the Triangle filters. Furthermore a vehicle detection system is described where the Triangle features are integrated. The system is based on a cascade of boosted classifiers, Haar and Triangle features, an adaptive sliding window and finally a Kalman filter.
{"title":"A vehicle detection system based on Haar and Triangle features","authors":"A. Haselhoff, A. Kummert","doi":"10.1109/IVS.2009.5164288","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164288","url":null,"abstract":"In recent years, the Viola and Jones rapid object detection approach became very popular. One aspect why this approach achieved acceptance is the numerical efficient computation of the Haar-like features on basis of the integral image. This efficiency is essential for sliding window techniques, where features have to be extracted for huge amounts of data. The main contribution of this paper is an efficient method to compute Triangle filters for feature extraction based on four integral images. The 2D Triangle filters are derived from 1D Bartlett functions. A comparison of Haar-like filters and the new Triangle filters is given by means of empirical results. The receiver operator characteristics reveal the superiority of the Triangle filters. Furthermore a vehicle detection system is described where the Triangle features are integrated. The system is based on a cascade of boosted classifiers, Haar and Triangle features, an adaptive sliding window and finally a Kalman filter.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127388165","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164348
Lei Zhang, Jianqiang Wang, Furui Yang, Keqiang Li
The aim of this study is to investigate the human driver behavior and explore a method to analyze the driver characteristics quantitatively. A self-reported survey of Chinese drivers based on Driver Behavior Questionnaire (DBQ) is carried out and the reliability of this questionnaire is validated. Based on Factor analysis theory, a two-dimension factor structure is established to describe the driver's conscious and unconscious behaviors. The quantified factors could represent the characteristics of driving skill and driving style respectively and the difference comparisons between driver groups divided by gender, age and driving experience are discussed.
{"title":"A quantification method of driver characteristics based on Driver Behavior Questionnaire","authors":"Lei Zhang, Jianqiang Wang, Furui Yang, Keqiang Li","doi":"10.1109/IVS.2009.5164348","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164348","url":null,"abstract":"The aim of this study is to investigate the human driver behavior and explore a method to analyze the driver characteristics quantitatively. A self-reported survey of Chinese drivers based on Driver Behavior Questionnaire (DBQ) is carried out and the reliability of this questionnaire is validated. Based on Factor analysis theory, a two-dimension factor structure is established to describe the driver's conscious and unconscious behaviors. The quantified factors could represent the characteristics of driving skill and driving style respectively and the difference comparisons between driver groups divided by gender, age and driving experience are discussed.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115210296","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164275
H. Uchiyama, Daisuke Deguchi, Tomokazu Takahashi, I. Ide, H. Murase
This paper focuses on ego-localization using in-vehicle cameras. We propose a 2D ego-localization method using streetscape appearance as a feature of image matching and the triangulation of matching results. The image sequences of two in-vehicle cameras are matched to a database that contains a sequence of streetscape images and their corresponding positions. First, the proposed method searches for images similar to the input image from the database. Second, vehicle position is calculated based on triangulation using the positions stored in the database and the viewing directions of the two cameras. By assuming that the streetscape appearance changes continuously, a sequential image matching algorithm is used to improve the ego-localization accuracy. From experimental results, we confirmed that the proposed method surpasses the accuracy of a general GPS and achieved sufficient accuracy to be used for driving lane recognition.
{"title":"Ego-localization using streetscape image sequences from in-vehicle cameras","authors":"H. Uchiyama, Daisuke Deguchi, Tomokazu Takahashi, I. Ide, H. Murase","doi":"10.1109/IVS.2009.5164275","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164275","url":null,"abstract":"This paper focuses on ego-localization using in-vehicle cameras. We propose a 2D ego-localization method using streetscape appearance as a feature of image matching and the triangulation of matching results. The image sequences of two in-vehicle cameras are matched to a database that contains a sequence of streetscape images and their corresponding positions. First, the proposed method searches for images similar to the input image from the database. Second, vehicle position is calculated based on triangulation using the positions stored in the database and the viewing directions of the two cameras. By assuming that the streetscape appearance changes continuously, a sequential image matching algorithm is used to improve the ego-localization accuracy. From experimental results, we confirmed that the proposed method surpasses the accuracy of a general GPS and achieved sufficient accuracy to be used for driving lane recognition.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115536866","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164378
E. P. Freitas, R. Allgayer, M. A. Wehrmeister, C. Pereira, Tony Larsson
Advances in vehicle intelligence technology is enabling the development of systems composed of unmanned vehicles, which are able to interact with devices spread on the environment in order to take decisions related to their movements. Sensor networks represent an area that can profit a lot of this new possibilities, as autonomous vehicles can be used to carry sensor devices, which interacting with static sensor nodes can enhance the results provided by the overall system. However, some problems arise in applications' development in such systems due to the network nodes heterogeneity, and also the dynamicity of the environment in which they are deployed, which changes constantly. Thus, new platform solutions are necessary to handle the heterogeneous nodes capabilities in order to facilitate coordination and integration among them. This paper proposes a supporting infrastructure to address these problems composed of an adaptive middleware and a customizable sensor node platform. The goal is to support cooperation in heterogeneous sensor networks, which are composed by static and mobile nodes with different capabilities. The middleware adapts itself in order to manage the very distinct computing resources of the nodes, and also changes in the environment and in the application demands. The customizable sensor node platform allows optimizations in hw/sw modules to meet specific application requirements, allowing the creation of low-end and resource rich nodes that work in an integrated network. In order to illustrate the proposed approach, a system for military surveillance applications is presented as case study.
{"title":"Supporting platform for heterogeneous sensor network operation based on unmanned vehicles systems and wireless sensor nodes","authors":"E. P. Freitas, R. Allgayer, M. A. Wehrmeister, C. Pereira, Tony Larsson","doi":"10.1109/IVS.2009.5164378","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164378","url":null,"abstract":"Advances in vehicle intelligence technology is enabling the development of systems composed of unmanned vehicles, which are able to interact with devices spread on the environment in order to take decisions related to their movements. Sensor networks represent an area that can profit a lot of this new possibilities, as autonomous vehicles can be used to carry sensor devices, which interacting with static sensor nodes can enhance the results provided by the overall system. However, some problems arise in applications' development in such systems due to the network nodes heterogeneity, and also the dynamicity of the environment in which they are deployed, which changes constantly. Thus, new platform solutions are necessary to handle the heterogeneous nodes capabilities in order to facilitate coordination and integration among them. This paper proposes a supporting infrastructure to address these problems composed of an adaptive middleware and a customizable sensor node platform. The goal is to support cooperation in heterogeneous sensor networks, which are composed by static and mobile nodes with different capabilities. The middleware adapts itself in order to manage the very distinct computing resources of the nodes, and also changes in the environment and in the application demands. The customizable sensor node platform allows optimizations in hw/sw modules to meet specific application requirements, allowing the creation of low-end and resource rich nodes that work in an integrated network. In order to illustrate the proposed approach, a system for military surveillance applications is presented as case study.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115885187","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164373
Dong-xu Zhang, Xiaohua Zeng, Pengyu Wang, Qingnian Wang
A new dynamic coupling device of Hybrid Electric Vehicle(HEV) was put forward based on the traditional symmetric bevel gear differential. And the co-simulation platform was constructed based on AMESim and MATLAB by analysis of the transfer mechanism for the new dynamic coupling. The control strategy was developed using MATLAB, the dynamic model of HEV was built using AMESim, and the data exchange was realized through AMESim special interface module and MATLAB S function. The performance simulation was performed on the co-simulation platform, and the simulation results show that it is feasible to act traditional symmetric bevel gear differential as the dynamic coupling device of HEV, and the fuel consumption can be reduced obviously.
{"title":"Co-simulation with AMESim and MATLAB for differential dynamic coupling of Hybrid Electric Vehicle","authors":"Dong-xu Zhang, Xiaohua Zeng, Pengyu Wang, Qingnian Wang","doi":"10.1109/IVS.2009.5164373","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164373","url":null,"abstract":"A new dynamic coupling device of Hybrid Electric Vehicle(HEV) was put forward based on the traditional symmetric bevel gear differential. And the co-simulation platform was constructed based on AMESim and MATLAB by analysis of the transfer mechanism for the new dynamic coupling. The control strategy was developed using MATLAB, the dynamic model of HEV was built using AMESim, and the data exchange was realized through AMESim special interface module and MATLAB S function. The performance simulation was performed on the co-simulation platform, and the simulation results show that it is feasible to act traditional symmetric bevel gear differential as the dynamic coupling device of HEV, and the fuel consumption can be reduced obviously.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114865757","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164314
Jian-wei Gong, Y. Duan, Kai Liu, Yongdan Chen, Guang-ming Xiong, Huiyan Chen
This article presents further developments of our earlier vector polar histogram method (VPH+) for unmanned ground vehicle(UGV) real-time obstacle avoidance and navigation in complicated unknown environments. Two other strategies, wall-following and move-to-goal are combined into the VPH+ method to overcome the local minimum problem. Meanwhile, a simple yet effective coordination mechanism that determines when to activate the corresponding strategy is carefully designed. The state memory and position prediction strategies are employed in the coordination mechanism to ensure that the corresponding strategy is evoked only at the appropriate moment. Contrastive simulation tests and real UGV vehicle tests confirmed that the proposed method is robust, stable, and efficient in complicated environments.
{"title":"A robust multistrategy unmanned ground vehicle navigation method using laser radar","authors":"Jian-wei Gong, Y. Duan, Kai Liu, Yongdan Chen, Guang-ming Xiong, Huiyan Chen","doi":"10.1109/IVS.2009.5164314","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164314","url":null,"abstract":"This article presents further developments of our earlier vector polar histogram method (VPH+) for unmanned ground vehicle(UGV) real-time obstacle avoidance and navigation in complicated unknown environments. Two other strategies, wall-following and move-to-goal are combined into the VPH+ method to overcome the local minimum problem. Meanwhile, a simple yet effective coordination mechanism that determines when to activate the corresponding strategy is carefully designed. The state memory and position prediction strategies are employed in the coordination mechanism to ensure that the corresponding strategy is evoked only at the appropriate moment. Contrastive simulation tests and real UGV vehicle tests confirmed that the proposed method is robust, stable, and efficient in complicated environments.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121962056","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164386
Jianping Wen, Bing-gang Cao
In electric vehicles (EV), an interior permanent magnet (IPM) synchronous motor (IPMSM) is popularly used as traction motors. In order to make good dynamic characteristic and control characteristic, such as small overshoot, maximum torque output, optimum efficiency operation, good transient response and the ability of restraining gust disturbance law, this paper presents a new approach. This approach combines maximum torque per ampere (MTPA) control strategy with auto disturbance rejection control (ADRC) to ensure the desired performance in electric vehicle applications. The effectiveness of the proposed control approach is successfully tested by means of simulations. The results show that the controller has good characteristics.
{"title":"A robust MTPA controller for high efficiency IPM synchronous motor","authors":"Jianping Wen, Bing-gang Cao","doi":"10.1109/IVS.2009.5164386","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164386","url":null,"abstract":"In electric vehicles (EV), an interior permanent magnet (IPM) synchronous motor (IPMSM) is popularly used as traction motors. In order to make good dynamic characteristic and control characteristic, such as small overshoot, maximum torque output, optimum efficiency operation, good transient response and the ability of restraining gust disturbance law, this paper presents a new approach. This approach combines maximum torque per ampere (MTPA) control strategy with auto disturbance rejection control (ADRC) to ensure the desired performance in electric vehicle applications. The effectiveness of the proposed control approach is successfully tested by means of simulations. The results show that the controller has good characteristics.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117120229","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164379
Xiong Yun, Zhong Zai-min, Sun Ze-chang
This paper introduces an offline fault diagnosis method based on CAN Bus for fuel cell vehicles powertrain, which synthetically applies CAN Bus communication technology, embedded system development technology, hierarchical fault processing technology and computer technology. Meanwhile, PC was applied as upper machine while the vehicle management system controller (VMS) based on MPC555 as lower machine. The upper machine and under-bit machine realize communication through CANdela protocol to record, upload and statistics analyses the fault. Such fault diagnosis system, which successfully complete the online fault record and offline fault diagnosis for powertrain, has been applied to “START III” fuel cell car developed by shanghai FCV powertrain Co., Ltd.
{"title":"The offline fault diagnosis of FCV powertrain based on CAN bus","authors":"Xiong Yun, Zhong Zai-min, Sun Ze-chang","doi":"10.1109/IVS.2009.5164379","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164379","url":null,"abstract":"This paper introduces an offline fault diagnosis method based on CAN Bus for fuel cell vehicles powertrain, which synthetically applies CAN Bus communication technology, embedded system development technology, hierarchical fault processing technology and computer technology. Meanwhile, PC was applied as upper machine while the vehicle management system controller (VMS) based on MPC555 as lower machine. The upper machine and under-bit machine realize communication through CANdela protocol to record, upload and statistics analyses the fault. Such fault diagnosis system, which successfully complete the online fault record and offline fault diagnosis for powertrain, has been applied to “START III” fuel cell car developed by shanghai FCV powertrain Co., Ltd.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124741169","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 : 2009-06-03DOI: 10.1109/IVS.2009.5164258
R. Danescu, F. Oniga, S. Nedevschi, M. Meinecke
Tracking multiple objects has always been a challenge, and is a crucial problem in the field of driving assistance systems. The particle filter-based trackers have the theoretical possibility of tracking multiple hypotheses, but in practice the particles will cluster around the stronger one. This paper proposes a two-level approach to the multiple object tracking problem. One particle filter-based tracker will search the whole state space for new hypotheses, and when a hypothesis becomes strong enough, it will be passed to an individual object tracker, which will track it until the object is lost. The initialization tracker and the individual object trackers use the same state models and the same measurement technique, based on stereovision-generated elevation maps, and differ only in their use of the estimation results. The proposed solution is a simple and robust one, adaptable to different types of object models and to different types of sensors.
{"title":"Tracking multiple objects using particle filters and digital elevation maps","authors":"R. Danescu, F. Oniga, S. Nedevschi, M. Meinecke","doi":"10.1109/IVS.2009.5164258","DOIUrl":"https://doi.org/10.1109/IVS.2009.5164258","url":null,"abstract":"Tracking multiple objects has always been a challenge, and is a crucial problem in the field of driving assistance systems. The particle filter-based trackers have the theoretical possibility of tracking multiple hypotheses, but in practice the particles will cluster around the stronger one. This paper proposes a two-level approach to the multiple object tracking problem. One particle filter-based tracker will search the whole state space for new hypotheses, and when a hypothesis becomes strong enough, it will be passed to an individual object tracker, which will track it until the object is lost. The initialization tracker and the individual object trackers use the same state models and the same measurement technique, based on stereovision-generated elevation maps, and differ only in their use of the estimation results. The proposed solution is a simple and robust one, adaptable to different types of object models and to different types of sensors.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129490961","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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