Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552057
An-ding Zhu, Wenliang Zhao, Jian-guo Xing
The sensor nodes of a wireless grain depot surveillance system are deployed in crystal grids, which provide lot of valid position information. To avoid the energy consumption unbalance of the single hop routing model adopted by LEACH protocol, a novel hybrid routing model is proposed in this paper. Multi-hop routing is introduced into the distant field nodes through right angle transferring of approximate equivalence consumption path. And the average energy consumption is used as a threshold of selecting intermediate transferring nodes to minimize total variance of node's energy consumption, so that balance the whole network. Simulations show that the hybrid model eliminates hot spots within cluster and prolong the lifetime of WSN.
{"title":"A novel hybrid routing model for wireless grain depot surveillance system","authors":"An-ding Zhu, Wenliang Zhao, Jian-guo Xing","doi":"10.1109/MESA.2010.5552057","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552057","url":null,"abstract":"The sensor nodes of a wireless grain depot surveillance system are deployed in crystal grids, which provide lot of valid position information. To avoid the energy consumption unbalance of the single hop routing model adopted by LEACH protocol, a novel hybrid routing model is proposed in this paper. Multi-hop routing is introduced into the distant field nodes through right angle transferring of approximate equivalence consumption path. And the average energy consumption is used as a threshold of selecting intermediate transferring nodes to minimize total variance of node's energy consumption, so that balance the whole network. Simulations show that the hybrid model eliminates hot spots within cluster and prolong the lifetime of WSN.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123412472","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552054
C. Sulzbachner, J. Kogler, W. Kubinger
In this paper we present an embedded high performance Serial RapidIO™ data acquisition interface for Silicon Retina technology based computer vision applications. The Silicon Retina technology is a new kind of bio-inspired analogue sensor that provides only event-triggered information depending on variations of intensity in a scene. Unaltered parts of a scene without intensity variations need neither be transmitted nor processed. Due to the asynchronous behavior and the varying data-rates up to a peak of 6M events per second (Meps) per channel and a time resolution of 10ns of the imager, a distributed digital signal processing system using both a single-core and a multi-core fixed-point digital signal processor (DSP) is used. The single-core DSP is used for data pre-processing of the compressed data streams and forwarding it to the multi-core DSP, which processes the actual data. Pre-processing also includes disposing the data required for processing on the multi-core system using a data parallelism concept. We discuss both design considerations, and implementation details of the interface and the pre-processing algorithm.
{"title":"An embedded high performance data acquisition and pre-processing interface for asynchronous event-based Silicon Retina data","authors":"C. Sulzbachner, J. Kogler, W. Kubinger","doi":"10.1109/MESA.2010.5552054","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552054","url":null,"abstract":"In this paper we present an embedded high performance Serial RapidIO™ data acquisition interface for Silicon Retina technology based computer vision applications. The Silicon Retina technology is a new kind of bio-inspired analogue sensor that provides only event-triggered information depending on variations of intensity in a scene. Unaltered parts of a scene without intensity variations need neither be transmitted nor processed. Due to the asynchronous behavior and the varying data-rates up to a peak of 6M events per second (Meps) per channel and a time resolution of 10ns of the imager, a distributed digital signal processing system using both a single-core and a multi-core fixed-point digital signal processor (DSP) is used. The single-core DSP is used for data pre-processing of the compressed data streams and forwarding it to the multi-core DSP, which processes the actual data. Pre-processing also includes disposing the data required for processing on the multi-core system using a data parallelism concept. We discuss both design considerations, and implementation details of the interface and the pre-processing algorithm.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128370069","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552049
H. Calderon, Jesús Ortiz, J. Fontaine
In this paper we present a method for disparity map computing and its correspondent high parallel hardware accelerator. Our solution considers a two step processing algorithm. First, we compute a one-dimensional biased sum of absolute differences, and later a spurious removal technique is performed to eliminate wrong estimations. The hardware accelerator introduces a memory organization, an address generation scheme and data-path units that have scalable features for several resolutions, frame rates, silicon use, and power consumption instantiations. We have implemented a five stage pipelined organization that operates at 174.5 MHz over an VIRTEX II PRO 2vp30fg676-7 FPGA device, carries out an equivalent of 9.074 GOPS and processes 142 frames per second of Common Intermediate Format (CIF).
本文提出了一种视差图计算方法及其相应的高并行硬件加速器。我们的解决方案考虑了两步处理算法。首先，我们计算一维绝对差的偏和，然后执行伪去除技术来消除错误的估计。硬件加速器引入了一个内存组织、一个地址生成方案和数据路径单元，这些单元具有针对多种分辨率、帧速率、硅使用和功耗实例的可扩展特性。我们已经实现了一个五阶段流水线组织，在VIRTEX II PRO 2vp30fg676-7 FPGA器件上工作在174.5 MHz，执行相当于9.074 GOPS和每秒处理142帧的通用中间格式(CIF)。
{"title":"High parallel disparity map computing on FPGA","authors":"H. Calderon, Jesús Ortiz, J. Fontaine","doi":"10.1109/MESA.2010.5552049","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552049","url":null,"abstract":"In this paper we present a method for disparity map computing and its correspondent high parallel hardware accelerator. Our solution considers a two step processing algorithm. First, we compute a one-dimensional biased sum of absolute differences, and later a spurious removal technique is performed to eliminate wrong estimations. The hardware accelerator introduces a memory organization, an address generation scheme and data-path units that have scalable features for several resolutions, frame rates, silicon use, and power consumption instantiations. We have implemented a five stage pipelined organization that operates at 174.5 MHz over an VIRTEX II PRO 2vp30fg676-7 FPGA device, carries out an equivalent of 9.074 GOPS and processes 142 frames per second of Common Intermediate Format (CIF).","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132717889","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552053
Hong'en Wu, Lin-jing Xiao, Baoren Wang, Guili Li, Peng Li
In order to use the wind energy more efficiently in wind turbine system, Active Magnetically suspended Bearings (AMBs) are equipped to eliminate the friction of the mechanical bearings. In the traditional analogue PID controller of AMBs control system, it has the shortcomings of inconvenient in parameters adjustment, low control resolution, difficulty to change hardware structure and realize advanced control algorithms. This digital platform is to enable the implementation of new and more complex control algorithms for Active Magnetically suspended Bearings (AMBs) equipped for wind turbine generator. This paper presents the design, implementation of a novel real-time controller for AMBs equipped for wind turbine based on a floating-point Digital Signal Processor (DSP) and on a Field-Programmable Gate Array (FPGA), by operating in a cooperative way. The platform combines the flexibility and processing power from both devices and this digital controller solution will result in an improvement in the control performance and a remarkable reduction in software development time.
{"title":"Digital platform design for Magnetically suspended Bearings equipped for wind turbine based on DSP28335+FPGA","authors":"Hong'en Wu, Lin-jing Xiao, Baoren Wang, Guili Li, Peng Li","doi":"10.1109/MESA.2010.5552053","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552053","url":null,"abstract":"In order to use the wind energy more efficiently in wind turbine system, Active Magnetically suspended Bearings (AMBs) are equipped to eliminate the friction of the mechanical bearings. In the traditional analogue PID controller of AMBs control system, it has the shortcomings of inconvenient in parameters adjustment, low control resolution, difficulty to change hardware structure and realize advanced control algorithms. This digital platform is to enable the implementation of new and more complex control algorithms for Active Magnetically suspended Bearings (AMBs) equipped for wind turbine generator. This paper presents the design, implementation of a novel real-time controller for AMBs equipped for wind turbine based on a floating-point Digital Signal Processor (DSP) and on a Field-Programmable Gate Array (FPGA), by operating in a cooperative way. The platform combines the flexibility and processing power from both devices and this digital controller solution will result in an improvement in the control performance and a remarkable reduction in software development time.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130378012","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552087
S. Hiremath, G. Balakrishnan
In today's hi-tech and hi-precision world, robot finds its application in many areas to carryout operations that are either routine, highly complex and critical, hazardous or of high-precision nature. Robots when networked offer many benefits such as increased maneuverability and efficiency. The goal is to define a model-based development process for large sensor-actuator networks with a focus on wireless communication. This paper makes a study on the present developmental status and details the design features of Autonomous Self Organizing Embedded Sensor Networks for Process Monitoring. It is intended to use this work as basis for future research work in the area of modular production systems.
{"title":"Embedded Sensor Networks for Process Monitoring and Mechatronic Applications","authors":"S. Hiremath, G. Balakrishnan","doi":"10.1109/MESA.2010.5552087","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552087","url":null,"abstract":"In today's hi-tech and hi-precision world, robot finds its application in many areas to carryout operations that are either routine, highly complex and critical, hazardous or of high-precision nature. Robots when networked offer many benefits such as increased maneuverability and efficiency. The goal is to define a model-based development process for large sensor-actuator networks with a focus on wireless communication. This paper makes a study on the present developmental status and details the design features of Autonomous Self Organizing Embedded Sensor Networks for Process Monitoring. It is intended to use this work as basis for future research work in the area of modular production systems.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"1998 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128241418","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552017
B. Cichy, K. Gałkowski
Iterative Learning Control (ILC) is now well established for linear and nonlinear dynamics in terms of both the underlying theory and experimental application. This approach is specifically targeted at applications where the same operation is repeated over a finite duration with resetting between successive executions. Each execution is known as a trial and the novel principle behind ILC is to suitably use information from previous trials in the selection of the current trial input with the objective of sequentially improving performance from trial-to-trial. In this paper, new computationally very efficient results on the extension of the ILC approach to the class of 2D systems that arise from certain methods of discretization of partial differential equations resulting in the need to use a spatio-temporal setting for analysis. The resulting control laws can be computed using Linear Matrix Inequalities (LMIs). An illustrative example is also given and areas for further research discussed.
{"title":"A new 2D systems approach applied to Tterative Learning Control of spatio-temporal dynamics","authors":"B. Cichy, K. Gałkowski","doi":"10.1109/MESA.2010.5552017","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552017","url":null,"abstract":"Iterative Learning Control (ILC) is now well established for linear and nonlinear dynamics in terms of both the underlying theory and experimental application. This approach is specifically targeted at applications where the same operation is repeated over a finite duration with resetting between successive executions. Each execution is known as a trial and the novel principle behind ILC is to suitably use information from previous trials in the selection of the current trial input with the objective of sequentially improving performance from trial-to-trial. In this paper, new computationally very efficient results on the extension of the ILC approach to the class of 2D systems that arise from certain methods of discretization of partial differential equations resulting in the need to use a spatio-temporal setting for analysis. The resulting control laws can be computed using Linear Matrix Inequalities (LMIs). An illustrative example is also given and areas for further research discussed.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128297397","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552065
Anh-Vu Dinh-Duc, Nam Ho
Recently, application in embedded systems has increasingly become complex. This requires having tools to prevent or detect memory corruption errors during the software development process. Unfortunately, most of embedded processors lack to be equipped a MMU (Memory Management Units), one of hardware components supporting memory protection mechanism in general purpose computer system, because MMU-based memory protection methods cause embedded system incurred hardware cost and performance penalty. In this paper, an off-chip model is proposed to detect violated memory accesses at run-time without incurring hardware cost. It can efficiently detect errors for RTOS-based applications in cases of stack overflow, reading/writing to code/data segments of the other tasks or violated memory access to OS kernel. The hardware component based on FPGA is also built by hooking on memory system bus to monitor memory accesses. Once error detection phase is completed, the hardware prototype can be detached from the system. Some testbeds are used for this model and give good results.
{"title":"A run-time detector for violated memory access in embedded systems","authors":"Anh-Vu Dinh-Duc, Nam Ho","doi":"10.1109/MESA.2010.5552065","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552065","url":null,"abstract":"Recently, application in embedded systems has increasingly become complex. This requires having tools to prevent or detect memory corruption errors during the software development process. Unfortunately, most of embedded processors lack to be equipped a MMU (Memory Management Units), one of hardware components supporting memory protection mechanism in general purpose computer system, because MMU-based memory protection methods cause embedded system incurred hardware cost and performance penalty. In this paper, an off-chip model is proposed to detect violated memory accesses at run-time without incurring hardware cost. It can efficiently detect errors for RTOS-based applications in cases of stack overflow, reading/writing to code/data segments of the other tasks or violated memory access to OS kernel. The hardware component based on FPGA is also built by hooking on memory system bus to monitor memory accesses. Once error detection phase is completed, the hardware prototype can be detached from the system. Some testbeds are used for this model and give good results.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133290162","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552025
F. Mastrogiovanni, Antonello Scalmato, A. Sgorbissa, R. Zaccaria
In this paper, a formalism to encode patterns of events which occurrences must be monitored by a context-aware system is introduced. The Situation Definition Language is a tool used to specify relationships among sensory data in a distributed system, without posing any assumption on how data are acquired. The language capabilities are discussed with respect to an Ubiquitous Robotics scenario, where several robots cooperate with smart environments to perform given tasks.
{"title":"Distributed context assessment: A case study with robots in intelligent environments","authors":"F. Mastrogiovanni, Antonello Scalmato, A. Sgorbissa, R. Zaccaria","doi":"10.1109/MESA.2010.5552025","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552025","url":null,"abstract":"In this paper, a formalism to encode patterns of events which occurrences must be monitored by a context-aware system is introduced. The Situation Definition Language is a tool used to specify relationships among sensory data in a distributed system, without posing any assumption on how data are acquired. The language capabilities are discussed with respect to an Ubiquitous Robotics scenario, where several robots cooperate with smart environments to perform given tasks.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125092296","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552024
Z. Zhong, X. Li, K. W. Thong, J. Zhou
The challenge to effectively and accurately determine pure partial discharge (PD) signals from the large amount of noise still remains. In this study, individual PD pulses were filtered, extracted and analyzed using digital signal processing techniques and data mining methods. The shape or distribution of the spectral frequency domain could be correlated with different PD signals. Feature extraction was explored using K-means clustering to categorize the similarities. A hard threshold method was applied to the time domain in which the critical PD pulses could be identified based on extracted features. A pre-determined threshold value was set and PD occurrences could be found and classified for fault diagnosis.
{"title":"Characterization of partial discharge signals","authors":"Z. Zhong, X. Li, K. W. Thong, J. Zhou","doi":"10.1109/MESA.2010.5552024","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552024","url":null,"abstract":"The challenge to effectively and accurately determine pure partial discharge (PD) signals from the large amount of noise still remains. In this study, individual PD pulses were filtered, extracted and analyzed using digital signal processing techniques and data mining methods. The shape or distribution of the spectral frequency domain could be correlated with different PD signals. Feature extraction was explored using K-means clustering to categorize the similarities. A hard threshold method was applied to the time domain in which the critical PD pulses could be identified based on extracted features. A pre-determined threshold value was set and PD occurrences could be found and classified for fault diagnosis.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"221 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116418289","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552090
Ali Ozgu Nursal
In this paper a modular embedded system for mechatronics education is presented. Four types of control boards are manufactured and related software is developed at board and PC level. A modular approach is adopted which is composed of units that can also work in a stand-alone manner. PC platform facilitates high-level usage of these cards whereas it is possible to implement custom codes on these boards. To sum up, an affordable, versatile, scalable and transparent system is developed which is specifically tailored for mechatronics applications.
{"title":"Modular embedded system design for mechatronic education 2010 IEEE/ASME international conference on mechatronic and embedded systems and applications","authors":"Ali Ozgu Nursal","doi":"10.1109/MESA.2010.5552090","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552090","url":null,"abstract":"In this paper a modular embedded system for mechatronics education is presented. Four types of control boards are manufactured and related software is developed at board and PC level. A modular approach is adopted which is composed of units that can also work in a stand-alone manner. PC platform facilitates high-level usage of these cards whereas it is possible to implement custom codes on these boards. To sum up, an affordable, versatile, scalable and transparent system is developed which is specifically tailored for mechatronics applications.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131827887","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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