Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704061
Haemin Lee, Youngjin Park
Controllability and observability are a structural property that carries information useful for control system design. There are many measures to determine the location of actuator and sensor like degree of controllability(DOC), degree of observability(DOO) and degree of disturbance rejectability(DODR). However, Those measures are mostly defined in standard state space systems, not in descriptor systems. Descriptor systems, or singular systems, consist of slow and fast systems, which mean there are singularities in the systems. In this paper, DOC for descriptor systems which is defined as minimum input energy to change the states is proposed and the result is same with the minimum energy to change the states of slow systems and that means the fast systems does not affect the input energy. A simple numerical example is used to verify the result.
{"title":"Quantitative measures of controllability for descriptor systems","authors":"Haemin Lee, Youngjin Park","doi":"10.1109/ICCAS.2013.6704061","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704061","url":null,"abstract":"Controllability and observability are a structural property that carries information useful for control system design. There are many measures to determine the location of actuator and sensor like degree of controllability(DOC), degree of observability(DOO) and degree of disturbance rejectability(DODR). However, Those measures are mostly defined in standard state space systems, not in descriptor systems. Descriptor systems, or singular systems, consist of slow and fast systems, which mean there are singularities in the systems. In this paper, DOC for descriptor systems which is defined as minimum input energy to change the states is proposed and the result is same with the minimum energy to change the states of slow systems and that means the fast systems does not affect the input energy. A simple numerical example is used to verify the result.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122630698","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704003
Kenichiro Koga, Ippei Nakayama, Jun Kobayashi
This paper presents a biological signal measurement system for biofeedback. The system was assembled based on system design concept, “portable” and “inexpensive,” in order to spread the biofeedback among people who want to promote their mental health and performance improvement. If a biofeedback system is portable, you are able to spend daily life wearing the system, and then the biofeedback will effectively work on mental problem or performance improvement for the user. Moreover, if a biofeedback system is made at low cost, most people who need some help for mental health are able to have their own biofeedback system. The assembled biological signal measurement system consists of an Android OS smart phone, micro controller (Arduino Mega ADK), and three biological sensors. The Android OS smart phone was adopted because of its compact size and cost. Experiments were conducted to verify the functions of the biological signal measurement system, and then the system could successfully capture the transitions of the subjects' mental conditions for biofeedback.
提出了一种用于生物反馈的生物信号测量系统。该系统是根据“便携”和“廉价”的系统设计理念组装的，目的是在希望促进心理健康和提高表现的人群中传播生物反馈。如果一个生物反馈系统是便携式的，你就可以在日常生活中佩戴这个系统，然后生物反馈将有效地为用户解决心理问题或提高表现。此外，如果生物反馈系统的成本较低，大多数需要心理健康帮助的人都能够拥有自己的生物反馈系统。组装的生物信号测量系统由Android操作系统智能手机、微控制器(Arduino Mega ADK)和三个生物传感器组成。采用Android操作系统的智能手机是因为它的体积小，成本低。通过实验验证了生物信号测量系统的功能，成功捕获了被试心理状态的转变，并进行了生物反馈。
{"title":"Portable biological signal measurement system for biofeedback and experiment for functional assessment","authors":"Kenichiro Koga, Ippei Nakayama, Jun Kobayashi","doi":"10.1109/ICCAS.2013.6704003","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704003","url":null,"abstract":"This paper presents a biological signal measurement system for biofeedback. The system was assembled based on system design concept, “portable” and “inexpensive,” in order to spread the biofeedback among people who want to promote their mental health and performance improvement. If a biofeedback system is portable, you are able to spend daily life wearing the system, and then the biofeedback will effectively work on mental problem or performance improvement for the user. Moreover, if a biofeedback system is made at low cost, most people who need some help for mental health are able to have their own biofeedback system. The assembled biological signal measurement system consists of an Android OS smart phone, micro controller (Arduino Mega ADK), and three biological sensors. The Android OS smart phone was adopted because of its compact size and cost. Experiments were conducted to verify the functions of the biological signal measurement system, and then the system could successfully capture the transitions of the subjects' mental conditions for biofeedback.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116736676","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704222
Jaemin Lee, D. Ko, H. Chun, D. Hur
Impact Wrench is one of power tools which have sophisticated structure to generate impact motion by using electrical motor or hydraulic actuators. In the system, an impacting module, which consists of impactor, spindle, connect balls, locker and spring, has an important role to generate impacting motion. In this paper, two strategies are investigated for improving performance to generate high level torque at an anvil. The motion equation of the system during impacting motion is derived and the control methodologies are proposed to manipulate contact force, sequentially. One of the proposed control methods is controlling the spring length by compressing on the opposite side of impactor. The other method is to accelerate or decelerate the rotational behavior by modifying velocity profile. Besides, the simulation results of two strategies are compared in magnitude of contact force and impacting frequency.
{"title":"Control strategies for manipulating contact force of Impact Wrench to generate high level torque","authors":"Jaemin Lee, D. Ko, H. Chun, D. Hur","doi":"10.1109/ICCAS.2013.6704222","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704222","url":null,"abstract":"Impact Wrench is one of power tools which have sophisticated structure to generate impact motion by using electrical motor or hydraulic actuators. In the system, an impacting module, which consists of impactor, spindle, connect balls, locker and spring, has an important role to generate impacting motion. In this paper, two strategies are investigated for improving performance to generate high level torque at an anvil. The motion equation of the system during impacting motion is derived and the control methodologies are proposed to manipulate contact force, sequentially. One of the proposed control methods is controlling the spring length by compressing on the opposite side of impactor. The other method is to accelerate or decelerate the rotational behavior by modifying velocity profile. Besides, the simulation results of two strategies are compared in magnitude of contact force and impacting frequency.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128457760","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704162
Jin-Young Kong, Yeonsik Kang, Kyung-Chul Han, J. Song, Kyungho Sun, Baek-Kyu Cho
Wind turbines are in the limelight in the alternative energy industry. However, they face frequent and various problems during operation. We focused on the Supervising of the blades of a wind turbine. In this paper, we present the design of a maintenance robot that takes the size of wind turbine blades into consideration. So the general form of the robot is a square with four wires fixed to its vertices and to the nacelle. After the robot is placed near the nacelle, it moves along the blades. We also designed an attitude control algorithm for the robot to maintain its balance. Our control algorithm for the robot consists of roll and pitch attitude controllers and a height controller. Each controller was designed independently and then superposed together. We used simulations to verify our control algorithm.
{"title":"A modeling and attitude control of robot for wind turbines","authors":"Jin-Young Kong, Yeonsik Kang, Kyung-Chul Han, J. Song, Kyungho Sun, Baek-Kyu Cho","doi":"10.1109/ICCAS.2013.6704162","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704162","url":null,"abstract":"Wind turbines are in the limelight in the alternative energy industry. However, they face frequent and various problems during operation. We focused on the Supervising of the blades of a wind turbine. In this paper, we present the design of a maintenance robot that takes the size of wind turbine blades into consideration. So the general form of the robot is a square with four wires fixed to its vertices and to the nacelle. After the robot is placed near the nacelle, it moves along the blades. We also designed an attitude control algorithm for the robot to maintain its balance. Our control algorithm for the robot consists of roll and pitch attitude controllers and a height controller. Each controller was designed independently and then superposed together. We used simulations to verify our control algorithm.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"106 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128750620","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704133
Suyong Yeon, N. Doh
Observability analysis is a very powerful tool for discriminating whether a robot can estimate its own state. However, this method cannot investigate how much of the system is observable. This is a major problem from a state estimation perspective because there is too much noise in real environments. Therefore, although the system (or a mobile robot) is observable, it cannot estimate its own state. To address this problem, we propose an observability analysis method that uses the condition number. Mathematically, the condition number of matrix represents a degree of robustness to noise. We utilize this property of the condition number to investigate the degree of observability. In other words, the condition number of the observability matrix demonstrates the feasibility of state estimation and the robustness of its feasibility for estimation.
{"title":"Observability analysis of 2D geometric features using the condition number for SLAM applications","authors":"Suyong Yeon, N. Doh","doi":"10.1109/ICCAS.2013.6704133","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704133","url":null,"abstract":"Observability analysis is a very powerful tool for discriminating whether a robot can estimate its own state. However, this method cannot investigate how much of the system is observable. This is a major problem from a state estimation perspective because there is too much noise in real environments. Therefore, although the system (or a mobile robot) is observable, it cannot estimate its own state. To address this problem, we propose an observability analysis method that uses the condition number. Mathematically, the condition number of matrix represents a degree of robustness to noise. We utilize this property of the condition number to investigate the degree of observability. In other words, the condition number of the observability matrix demonstrates the feasibility of state estimation and the robustness of its feasibility for estimation.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128574489","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704178
L. Guenfaf, S. Allaoua
This paper is devoted to the study of active control with an observer for the control of structural vibration using an electric servomotor active mass driver (AMD) system. Composed primarily of an electric servomotor and a ball screw, the electrical AMD system is free from noise problems, oil leakage, and labor-intensive maintenance that commonly are associated with hydraulic AMD systems. For technological reasons and for cost reasons the number of sensors is limited by using the Luenberger observer. This observer is based on the synthesis of a static gain to stabilize the error state estimation and the convergence of the observer status to the state of the real system. In this study an instantaneous linear quadratic control algorithm is adopted using an observer. Numerical simulation is performed using a single sensor on the top floor of a five-story steel frame structure under the conditions of a Kanai-Tajimi power spectral density function of ground acceleration.
{"title":"Linear quadratic AMD controller with an observer for buildings under seismic ground motion","authors":"L. Guenfaf, S. Allaoua","doi":"10.1109/ICCAS.2013.6704178","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704178","url":null,"abstract":"This paper is devoted to the study of active control with an observer for the control of structural vibration using an electric servomotor active mass driver (AMD) system. Composed primarily of an electric servomotor and a ball screw, the electrical AMD system is free from noise problems, oil leakage, and labor-intensive maintenance that commonly are associated with hydraulic AMD systems. For technological reasons and for cost reasons the number of sensors is limited by using the Luenberger observer. This observer is based on the synthesis of a static gain to stabilize the error state estimation and the convergence of the observer status to the state of the real system. In this study an instantaneous linear quadratic control algorithm is adopted using an observer. Numerical simulation is performed using a single sensor on the top floor of a five-story steel frame structure under the conditions of a Kanai-Tajimi power spectral density function of ground acceleration.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129000245","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704017
Kihoon Kim, Myeongjin Park, O. Kwon
This paper considers a delay-dependent H∞ problem for linear systems with a constant time-delay and interval randomly varying disturbances. It is assumed that the variance probability of disturbances satisfies the Bernoulli distribution. By constructing a suitable Lyapunov-Krasovskii functional, an H∞ control criterion for the system is proposed in terms of linear matrix inequalities (LMIs) which can be easily solvable by effective optimization algorithms. One numerical example is included to demonstrate the effectiveness of the presented criterion with designed controller.
{"title":"Delay-dependent H∞ control for linear systems with a time-delay and interval randomly varying disturbances","authors":"Kihoon Kim, Myeongjin Park, O. Kwon","doi":"10.1109/ICCAS.2013.6704017","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704017","url":null,"abstract":"This paper considers a delay-dependent H∞ problem for linear systems with a constant time-delay and interval randomly varying disturbances. It is assumed that the variance probability of disturbances satisfies the Bernoulli distribution. By constructing a suitable Lyapunov-Krasovskii functional, an H∞ control criterion for the system is proposed in terms of linear matrix inequalities (LMIs) which can be easily solvable by effective optimization algorithms. One numerical example is included to demonstrate the effectiveness of the presented criterion with designed controller.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130328664","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6704242
Byoungil Jeon, Kwang-yul Baek, Chanho Kim, H. Bang
This paper addresses mode changing tracker that has global and local tracking mode for efficient target tracking in aerial images from unmanned aerial vehicle. There are two modes in this tracker; Global tracking for object detection and local object tracking. In global tracking, an object in current image sequence is detected with covariance matrix matching. The covariance matrix is one of the efficient ways describing models as fusion of spatial and statistical properties of features. In local tracking, tracker conducts object tracking with kernel-based object tracking algorithm. Kernel-based object tracking algorithm, also known as mean shift, is one of the modern object tracking approaches. We demonstrate the performance of the tracker on aerial image sequences.
{"title":"Mode changing tracker for ground target tracking on aerial images from unmanned aerial vehicles (ICCAS 2013)","authors":"Byoungil Jeon, Kwang-yul Baek, Chanho Kim, H. Bang","doi":"10.1109/ICCAS.2013.6704242","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704242","url":null,"abstract":"This paper addresses mode changing tracker that has global and local tracking mode for efficient target tracking in aerial images from unmanned aerial vehicle. There are two modes in this tracker; Global tracking for object detection and local object tracking. In global tracking, an object in current image sequence is detected with covariance matrix matching. The covariance matrix is one of the efficient ways describing models as fusion of spatial and statistical properties of features. In local tracking, tracker conducts object tracking with kernel-based object tracking algorithm. Kernel-based object tracking algorithm, also known as mean shift, is one of the modern object tracking approaches. We demonstrate the performance of the tracker on aerial image sequences.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129124134","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}
We develop a kind of active cannula robot (microsurgery system) used in minimally invasive surgery. This robot mainly consists of two parts: active cannula and control unit. The active cannula is composed of two or three concentric pre-curved elastic tubes that can be translated and rotated relative to one another. Each tube is driven by a motor with a decelerator. Elastic interaction is caused as tubes are translated and rotated relatively, which reshape the cannula to bypass the barriers. In addition, vision system is also integrated into our system. However, when the micro-camera fastened to the tip of cannula rotates together with the active cannula, the orientation of object presented on the monitor is always changing, which will complicate manual dexterity among surgeons. To solve this problem, we design a real-time misorientation auto-recovery algorithm for calibrating the rotation angle and confirm it by experiment.
{"title":"Active cannula robot with misorientation auto-recovery camera: A method to improve hand-eye coordination in minimally invasive surgery","authors":"Xiao Li, Taeyoung Choi, Hanyong Chun, Suhyeon Gim, Soojun Lee, Sungchul Kang, Keri Kim","doi":"10.1109/ICCAS.2013.6703908","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703908","url":null,"abstract":"We develop a kind of active cannula robot (microsurgery system) used in minimally invasive surgery. This robot mainly consists of two parts: active cannula and control unit. The active cannula is composed of two or three concentric pre-curved elastic tubes that can be translated and rotated relative to one another. Each tube is driven by a motor with a decelerator. Elastic interaction is caused as tubes are translated and rotated relatively, which reshape the cannula to bypass the barriers. In addition, vision system is also integrated into our system. However, when the micro-camera fastened to the tip of cannula rotates together with the active cannula, the orientation of object presented on the monitor is always changing, which will complicate manual dexterity among surgeons. To solve this problem, we design a real-time misorientation auto-recovery algorithm for calibrating the rotation angle and confirm it by experiment.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123923767","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 : 2013-10-01DOI: 10.1109/ICCAS.2013.6703972
Jae-Kyung Jung, D. Hwang
The threat of ballistic targets has increased rapidly in recent years. Therefore, it is essential to prepare the capabilities to predict their impact points in order to assign the firing battery to defense them effectively. Because the trajectory of a short-range ballistic target represents severe non-linear characteristics and consists of boost phase and ballistic phase, it is difficult to estimate the state and predict its impact point using single dynamic model in overlapping region. In this paper, the method to distinguish the trajectory phase from the measurement data and the method to estimate the state using a different extended Kalman filter (EKF) with interacting multiple models are proposed in order to fuse the state of a ballistic target in overlapping region. For effective the state fusion, it is necessary to merge each state from a different EKF in accordance with the mode probability depending on the residual error between the estimated state and measurement. A Monte Carlo simulation is used in the verification of the proposed method.
{"title":"The novel impact point prediction of a ballistic target with interacting multiple models","authors":"Jae-Kyung Jung, D. Hwang","doi":"10.1109/ICCAS.2013.6703972","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703972","url":null,"abstract":"The threat of ballistic targets has increased rapidly in recent years. Therefore, it is essential to prepare the capabilities to predict their impact points in order to assign the firing battery to defense them effectively. Because the trajectory of a short-range ballistic target represents severe non-linear characteristics and consists of boost phase and ballistic phase, it is difficult to estimate the state and predict its impact point using single dynamic model in overlapping region. In this paper, the method to distinguish the trajectory phase from the measurement data and the method to estimate the state using a different extended Kalman filter (EKF) with interacting multiple models are proposed in order to fuse the state of a ballistic target in overlapping region. For effective the state fusion, it is necessary to merge each state from a different EKF in accordance with the mode probability depending on the residual error between the estimated state and measurement. A Monte Carlo simulation is used in the verification of the proposed method.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123928150","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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