Pub Date : 2016-07-08DOI: 10.1109/ARSO.2016.7736296
Na Li, Zhenhua Wang, Hui Xu, Lining Sun, Guodong Chen
Nowadays autonomous welding robots are gaining importance. Weld seam detection is a key technology in robotic welding which is usually performed using a visual system. In most existing vision-based approaches, traditional image processings are used to obtain weld seams. Generally, these approaches are sensitive to their surrounding environment, especially illumination. Therefore, we address the problem by introducing the visual attention mechanism of the primate. Firstly, image preprocessing is executed to block visual interferences. Secondly, a visual saliency model based on local contrast is proposed to emphasize weld seam candidates. Finally, some basic image processings are performed to extract the desired weld seam. In order to validate the proposed approach, experiments are carried out in different cases: two types of joints (butt and fillet joint) and three types of shapes (straight line, zigzag and curve). The results demonstrate that this method is effective and robust, and is useful for autonomous welding robots.
{"title":"Weld seam detection based on visual saliency for autonomous welding robots","authors":"Na Li, Zhenhua Wang, Hui Xu, Lining Sun, Guodong Chen","doi":"10.1109/ARSO.2016.7736296","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736296","url":null,"abstract":"Nowadays autonomous welding robots are gaining importance. Weld seam detection is a key technology in robotic welding which is usually performed using a visual system. In most existing vision-based approaches, traditional image processings are used to obtain weld seams. Generally, these approaches are sensitive to their surrounding environment, especially illumination. Therefore, we address the problem by introducing the visual attention mechanism of the primate. Firstly, image preprocessing is executed to block visual interferences. Secondly, a visual saliency model based on local contrast is proposed to emphasize weld seam candidates. Finally, some basic image processings are performed to extract the desired weld seam. In order to validate the proposed approach, experiments are carried out in different cases: two types of joints (butt and fillet joint) and three types of shapes (straight line, zigzag and curve). The results demonstrate that this method is effective and robust, and is useful for autonomous welding robots.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124737786","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736252
S. Du, J. Schlattmann, S. Schulz, A. Seibel
In this paper, a digital prototype of a novel robot system for the sustainable mobility assurance in the assistance and care is presented. In contrast to established systems, the new robot system renounces totally the use of wheels as the locomotion concept and uses two serially arranged parallel kinematics (hexapods) instead. As a ride-on device, the system offers high mobility and is able to move forwards, backwards, and sidewards as well as automatically recognize and overcome obstacles. Furthermore, the telescopic motion of the legs enables the handling of steps, stairs, and low clearances.
{"title":"Robot system for the sustainable mobility assurance in the assistance and care","authors":"S. Du, J. Schlattmann, S. Schulz, A. Seibel","doi":"10.1109/ARSO.2016.7736252","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736252","url":null,"abstract":"In this paper, a digital prototype of a novel robot system for the sustainable mobility assurance in the assistance and care is presented. In contrast to established systems, the new robot system renounces totally the use of wheels as the locomotion concept and uses two serially arranged parallel kinematics (hexapods) instead. As a ride-on device, the system offers high mobility and is able to move forwards, backwards, and sidewards as well as automatically recognize and overcome obstacles. Furthermore, the telescopic motion of the legs enables the handling of steps, stairs, and low clearances.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125601339","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736274
Kazuma Fujimoto, N. Matsuhira, Masayuki Murakami, Kazuhiro Sakashita, Toru Yamaguchi
Service robots for daily work activities have been anticipated for several years even though it is difficult for companies to estimate their market demand and future usage. To overcome these problems, various types of robots are to be developed and verified by demonstration tasks using standard software. If many developers use the standard software to develop robots, the possibility to find a killer application of the robots will be increased and the service robot market will be widespread. Thus, we developed a prototype of a robot photographer using Robotics Technology Middleware to activate the community. The robot was developed quickly and easily. However, the success rate for capturing pictures was low in various environments. Therefore, we analyzed the cause of failures and proposed a correction algorithm. To improve the robot performance, we developed a multiple human detection system with recovery motion.
{"title":"Performance improvement of a robot photographer using a multiple human detection system to activate the community","authors":"Kazuma Fujimoto, N. Matsuhira, Masayuki Murakami, Kazuhiro Sakashita, Toru Yamaguchi","doi":"10.1109/ARSO.2016.7736274","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736274","url":null,"abstract":"Service robots for daily work activities have been anticipated for several years even though it is difficult for companies to estimate their market demand and future usage. To overcome these problems, various types of robots are to be developed and verified by demonstration tasks using standard software. If many developers use the standard software to develop robots, the possibility to find a killer application of the robots will be increased and the service robot market will be widespread. Thus, we developed a prototype of a robot photographer using Robotics Technology Middleware to activate the community. The robot was developed quickly and easily. However, the success rate for capturing pictures was low in various environments. Therefore, we analyzed the cause of failures and proposed a correction algorithm. To improve the robot performance, we developed a multiple human detection system with recovery motion.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121982812","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736285
Yong Tao, Jiaqi Zheng, Tianmiao Wang, Yaoguang Hu
A state and fault prediction method based on RBF neural networks is proposed. The agricultural machinery is chosen as the experimental object of the method. There are 4 health level, such as failure, hazardous, sub-healthy and healthy. Some data of different provinces have been obtained, the health level can be acquired by RBF neural networks. The mathematical model of agricultural machinery is difficult to be proposed in this paper, so the traditional control algorithm can't be used in agricultural machinery. However, the RBF neural networks can solve this problem. At the same time, some vital factors should be considered, such as mileages, rotational speed, stubble height, water temperature, oil pressure of agricultural machinery. The rotational speed and stubble height have a big effect on fault prediction of agriculture. The experimental results verify the effectiveness of the proposed method.
{"title":"A state and fault prediction method based on RBF neural networks","authors":"Yong Tao, Jiaqi Zheng, Tianmiao Wang, Yaoguang Hu","doi":"10.1109/ARSO.2016.7736285","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736285","url":null,"abstract":"A state and fault prediction method based on RBF neural networks is proposed. The agricultural machinery is chosen as the experimental object of the method. There are 4 health level, such as failure, hazardous, sub-healthy and healthy. Some data of different provinces have been obtained, the health level can be acquired by RBF neural networks. The mathematical model of agricultural machinery is difficult to be proposed in this paper, so the traditional control algorithm can't be used in agricultural machinery. However, the RBF neural networks can solve this problem. At the same time, some vital factors should be considered, such as mileages, rotational speed, stubble height, water temperature, oil pressure of agricultural machinery. The rotational speed and stubble height have a big effect on fault prediction of agriculture. The experimental results verify the effectiveness of the proposed method.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121470891","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736264
N. Lv, Y. L. Xu, G. Fang, X. W. Yu, S. B. Chen
This paper proposed a new recognition model of analyzing the relationship between arc sound and penetration state. The experiment system is based on Robotic GTAW welding system with acoustic sensor and signal conditioner on it. The arc sound signal was firstly preprocessed to remove the influence of DC component and environmental noise. Then the features of arc sound signal were extracted and analysed in time and frequency domain. Finally, a new type of prediction model BP-Adaboost was built up to recognize different penetration state and welding quality through arc sound signal. The results showed that the new model had better prediction effect for the welding penetration state monitoring.
{"title":"Research on welding penetration state recognition based on BP-Adaboost model for pulse GTAW welding dynamic process","authors":"N. Lv, Y. L. Xu, G. Fang, X. W. Yu, S. B. Chen","doi":"10.1109/ARSO.2016.7736264","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736264","url":null,"abstract":"This paper proposed a new recognition model of analyzing the relationship between arc sound and penetration state. The experiment system is based on Robotic GTAW welding system with acoustic sensor and signal conditioner on it. The arc sound signal was firstly preprocessed to remove the influence of DC component and environmental noise. Then the features of arc sound signal were extracted and analysed in time and frequency domain. Finally, a new type of prediction model BP-Adaboost was built up to recognize different penetration state and welding quality through arc sound signal. The results showed that the new model had better prediction effect for the welding penetration state monitoring.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132620066","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736278
Zhichao Chen, Zhan Yang, Tao Chen, Lining Sun
A method of making copper particles melting into mutil-wall carbon nanotube (MWCNT) will be presented in this paper. A nanorobotic manipulation system with multiple positioning degrees of freedom (DOFs) was used for the real time nanomanipulation. The nanorobotic manipulation system was constructed inside the scanning electron microscopy (SEM) specimen chamber to pick up MWCNT from MWCNT bulk without any other bounding except van der Waals force and measure the electrical properties of MWCNT and MWCNT/Cu hybrid nanowire. The electron beam was focused on a copper particle cluster of about 200 nm diameter, under SEM. After 5 minutes of electron beam focusing, the melting Cu started to climb into the MWCNT along the wall of the MWCNT. The electrical properties of MWCNT and MWCNT/Cu hybrid nanowire were measured through the model 4200 semiconductor characterization system (4200-SCS). Finally, the electrical properties of MWCNT and MWCNT/Cu hybrid nanowire were plotted on the I-V curves.
{"title":"Electron beam introduced Cu melting for CNT/Cu hybrid nanowire based on nanorobotics","authors":"Zhichao Chen, Zhan Yang, Tao Chen, Lining Sun","doi":"10.1109/ARSO.2016.7736278","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736278","url":null,"abstract":"A method of making copper particles melting into mutil-wall carbon nanotube (MWCNT) will be presented in this paper. A nanorobotic manipulation system with multiple positioning degrees of freedom (DOFs) was used for the real time nanomanipulation. The nanorobotic manipulation system was constructed inside the scanning electron microscopy (SEM) specimen chamber to pick up MWCNT from MWCNT bulk without any other bounding except van der Waals force and measure the electrical properties of MWCNT and MWCNT/Cu hybrid nanowire. The electron beam was focused on a copper particle cluster of about 200 nm diameter, under SEM. After 5 minutes of electron beam focusing, the melting Cu started to climb into the MWCNT along the wall of the MWCNT. The electrical properties of MWCNT and MWCNT/Cu hybrid nanowire were measured through the model 4200 semiconductor characterization system (4200-SCS). Finally, the electrical properties of MWCNT and MWCNT/Cu hybrid nanowire were plotted on the I-V curves.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130343997","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736269
C. Dong, J. Xue, X. M. Jiang
The paper proposes a novel processing method of additional shielding gas for compensation to overcome welding defects, which often occur when high temperature solid and liquid phase welds are exposed to air. This method properly modifies the current pulsed MIG welding device by adding an airflow control branch of shielding gas for compensation, so that weld formation of the high-temperature, solid-liquid phase from the welding torch nozzle can be manually intervened and secondary gas protection of the weld surface can be implemented. This modified welding device with additional airflow is then used to conduct bead-on-plate pulsed MIG welding experiments using 18-8 type austenitic stainless steel as the base material. The study of microstructure and physical properties of the weld indicates that after introducing a certain amount of shielding gas for compensation, not only is weld formation significantly improved, but there is also timely track and protection of the weld surface. This largely inhibits the occurrence of welding defects during high-speed pulsed MIG single-wire welding and helps improve welding efficiency, and this study might demonstrate the necessity of further research and exploration.
{"title":"Effects of additional compensation shielding gas on stainless steel pulse MIG welding","authors":"C. Dong, J. Xue, X. M. Jiang","doi":"10.1109/ARSO.2016.7736269","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736269","url":null,"abstract":"The paper proposes a novel processing method of additional shielding gas for compensation to overcome welding defects, which often occur when high temperature solid and liquid phase welds are exposed to air. This method properly modifies the current pulsed MIG welding device by adding an airflow control branch of shielding gas for compensation, so that weld formation of the high-temperature, solid-liquid phase from the welding torch nozzle can be manually intervened and secondary gas protection of the weld surface can be implemented. This modified welding device with additional airflow is then used to conduct bead-on-plate pulsed MIG welding experiments using 18-8 type austenitic stainless steel as the base material. The study of microstructure and physical properties of the weld indicates that after introducing a certain amount of shielding gas for compensation, not only is weld formation significantly improved, but there is also timely track and protection of the weld surface. This largely inhibits the occurrence of welding defects during high-speed pulsed MIG single-wire welding and helps improve welding efficiency, and this study might demonstrate the necessity of further research and exploration.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132902071","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}
The welding unit is an indispensable part of the welding flexible manufacturing system (WFMS). The local welding units welding system is a typical hybrid systems, not only continuous variables involved, but also discrete variables involved, and there are many uncertainties in the welding process. Mixed logical dynamical (MLD) approach is a more effective tool for hybrid system, and more suitable for intelligent robotic welding process, therefore MLD can effectively predict and control the state of robot motion and welding process. The purpose of this paper is to apply the MLD to model the dual robot motion process and welding power supply. The stability and reliability of the MLD architecture indicates that it is adapted to dual robotic welding process.
{"title":"Mixed logic dynamic model for the hybrid characteristics of the dual robotic welding process and system","authors":"Hao Zhou, Yinshui He, Yuxi Chen, Di Wu, Huabin Chen, Shanben Chen","doi":"10.1109/ARSO.2016.7736299","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736299","url":null,"abstract":"The welding unit is an indispensable part of the welding flexible manufacturing system (WFMS). The local welding units welding system is a typical hybrid systems, not only continuous variables involved, but also discrete variables involved, and there are many uncertainties in the welding process. Mixed logical dynamical (MLD) approach is a more effective tool for hybrid system, and more suitable for intelligent robotic welding process, therefore MLD can effectively predict and control the state of robot motion and welding process. The purpose of this paper is to apply the MLD to model the dual robot motion process and welding power supply. The stability and reliability of the MLD architecture indicates that it is adapted to dual robotic welding process.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132982236","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736268
Yanling Xu, N. Lv, Yu Han, Shanben Chen
With the popularization and development of welding robot, robotic intellectualized welding technology will be the main trend of future development. This paper mainly introduces some sensor technology of robotic welding intellectualization in Shanghai Jiao Tong University of China, especially the vision sensor, such as passive vision, active vision and active-passive vision technology, etc. All these studies are just the beginning, and deeper research is still needed.
{"title":"Research on the key technology of vision sensor in robotic welding","authors":"Yanling Xu, N. Lv, Yu Han, Shanben Chen","doi":"10.1109/ARSO.2016.7736268","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736268","url":null,"abstract":"With the popularization and development of welding robot, robotic intellectualized welding technology will be the main trend of future development. This paper mainly introduces some sensor technology of robotic welding intellectualization in Shanghai Jiao Tong University of China, especially the vision sensor, such as passive vision, active vision and active-passive vision technology, etc. All these studies are just the beginning, and deeper research is still needed.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128526092","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736277
Gilbert K. Cheruiyot, Xiaoxiao Zhu, Q. Cao
This paper presents the design and implementation of a PC-based control application retrofitted to an existing industrial manipulator. The system uses the OROCOS component-based framework for real-time functionality as well as its infrastructure for software component interaction. This together with the use some of the provided libraries and built-in development tools allowed for a rapid development approach. Direct addressing of a PCI-based I/O card peripheral hardware is described and proposed as a solution to the perennial challenge of hardware I/O in Linux partly occasioned by a lack of support for device drivers. The result is a fully functional control application that provides standard manipulator functionality as well as on-board analysis tools and capacity for sensor-based extended functionality. Moreover the resulting scheme is based on generic hardware that is available commercially off-the-shelf and can thus be replicated in its entirety.
{"title":"OROCOS-based generic control system for a 6 DOF industrial manipulator","authors":"Gilbert K. Cheruiyot, Xiaoxiao Zhu, Q. Cao","doi":"10.1109/ARSO.2016.7736277","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736277","url":null,"abstract":"This paper presents the design and implementation of a PC-based control application retrofitted to an existing industrial manipulator. The system uses the OROCOS component-based framework for real-time functionality as well as its infrastructure for software component interaction. This together with the use some of the provided libraries and built-in development tools allowed for a rapid development approach. Direct addressing of a PCI-based I/O card peripheral hardware is described and proposed as a solution to the perennial challenge of hardware I/O in Linux partly occasioned by a lack of support for device drivers. The result is a fully functional control application that provides standard manipulator functionality as well as on-board analysis tools and capacity for sensor-based extended functionality. Moreover the resulting scheme is based on generic hardware that is available commercially off-the-shelf and can thus be replicated in its entirety.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127385222","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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