Pub Date : 2016-12-12DOI: 10.1109/AUV.2016.7778685
C. Harris, A. Phillips, Carolina Dopico-González, M. Brito
It is well-known that autonomous underwater vehicle (AUV) missions are a challenging, high-risk robotics application. With many parallels to Mars rovers, AUV missions involve operating a vehicle in an inherently uncertain environment of which our prior knowledge is often sparse or low-resolution. The lack of an accurate prior, coupled with poor situational awareness and potentially significant sensor noise, presents substantial engineering challenges in navigation, localisation, state estimation and control. When constructing missions and operating AUVs, it is important to consider the risks involved. Stakeholders need to be reassured that risks of vehicle loss or damage have been minimised where possible, and scientists need to be confident that the mission is likely to produce sufficient high-quality data to meet the aims of the deployment. In this paper, we consider the challenges associated with risk analysis methods and representations for multi-vehicle missions, reviewing the relevant literature and proposing a methodology.
{"title":"Risk and reliability modelling for multi-vehicle marine domains","authors":"C. Harris, A. Phillips, Carolina Dopico-González, M. Brito","doi":"10.1109/AUV.2016.7778685","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778685","url":null,"abstract":"It is well-known that autonomous underwater vehicle (AUV) missions are a challenging, high-risk robotics application. With many parallels to Mars rovers, AUV missions involve operating a vehicle in an inherently uncertain environment of which our prior knowledge is often sparse or low-resolution. The lack of an accurate prior, coupled with poor situational awareness and potentially significant sensor noise, presents substantial engineering challenges in navigation, localisation, state estimation and control. When constructing missions and operating AUVs, it is important to consider the risks involved. Stakeholders need to be reassured that risks of vehicle loss or damage have been minimised where possible, and scientists need to be confident that the mission is likely to produce sufficient high-quality data to meet the aims of the deployment. In this paper, we consider the challenges associated with risk analysis methods and representations for multi-vehicle missions, reviewing the relevant literature and proposing a methodology.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114102420","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 : 2016-12-12DOI: 10.1109/AUV.2016.7778658
G. Salavasidis, C. Harris, S. McPhail, A. Phillips, E. Rogers
This paper investigates the potential of use of Terrain Aided Navigation (TAN) methods to exploit the extended endurance capabilities of an enhanced 1500m depth rated variant of the Autosub Long Range (ALR), the ALR1500 Autonomous Underwater Vehicle (AUV), for operations under the Arctic ice. A simulator for the TAN system using a low resolution Arctic bathymetric map is developed to study the capability to reduce/bound the positioning error growth due to the Dead Reckoning (DR) drift over time. Bathymetric measurements are obtained using a low sample rated single beam echo sounder and a Jittered Bootsrap Particle Filter (JBPF) is used for the multi-sensor data fusion problem. Sensitivity analysis of JBPF has been performed for a range of values of number of particles, jittering variances and measurement frequencies and a discussion over the results is given. Results from the simulation demonstrate that JBPF is capable of providing a robust and accurate solution to the localization problem provided that the AUV follows a trajectory with a sufficiently variant terrain. Finally, a brief discussion regarding the future extension of this work is also provided.
本文研究了使用地形辅助导航(TAN)方法的潜力，以利用Autosub Long Range (ALR)的增强型1500米深度额定变体ALR1500自主水下航行器(AUV)的扩展续航力，用于北极冰层下的作业。开发了一个使用低分辨率北极水深图的TAN系统模拟器，以研究减少/限制由于航位推算(DR)随时间漂移而导致的定位误差增长的能力。采用低采样率单波束测深仪获得测深数据，采用抖动引导粒子滤波器(JBPF)进行多传感器数据融合。对JBPF在粒子数、抖动方差和测量频率范围内的灵敏度进行了分析，并对结果进行了讨论。仿真结果表明，当水下机器人的轨迹具有足够的地形变化时，JBPF能够提供鲁棒性和准确性的定位问题解决方案。最后，对今后的扩展工作进行了简要的讨论。
{"title":"Terrain Aided Navigation for Long Range AUV operations at arctic latitudes","authors":"G. Salavasidis, C. Harris, S. McPhail, A. Phillips, E. Rogers","doi":"10.1109/AUV.2016.7778658","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778658","url":null,"abstract":"This paper investigates the potential of use of Terrain Aided Navigation (TAN) methods to exploit the extended endurance capabilities of an enhanced 1500m depth rated variant of the Autosub Long Range (ALR), the ALR1500 Autonomous Underwater Vehicle (AUV), for operations under the Arctic ice. A simulator for the TAN system using a low resolution Arctic bathymetric map is developed to study the capability to reduce/bound the positioning error growth due to the Dead Reckoning (DR) drift over time. Bathymetric measurements are obtained using a low sample rated single beam echo sounder and a Jittered Bootsrap Particle Filter (JBPF) is used for the multi-sensor data fusion problem. Sensitivity analysis of JBPF has been performed for a range of values of number of particles, jittering variances and measurement frequencies and a discussion over the results is given. Results from the simulation demonstrate that JBPF is capable of providing a robust and accurate solution to the localization problem provided that the AUV follows a trajectory with a sufficiently variant terrain. Finally, a brief discussion regarding the future extension of this work is also provided.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125889158","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 : 2016-12-12DOI: 10.1109/AUV.2016.7778689
Sophia M. Schillai, S. Turnock, E. Rogers, A. Phillips
Photographic surveys of the seafloor with flight style autonomous underwater vehicles are a very effective tool for discovery and exploration. Due to the high terrain collision risk for the survey vehicle, they are employed with caution. The extent of this risk remains unquantified. For mission planning, researchers and vehicle operators have to rely on their experience. This paper introduces measures for vehicle risk and success and analyses how previously mapped terrains and artificially generated terrain maps can be used to categorize terrains. The developed measures are applied to a simulation of the Autosub6000 flight style AUV terrain following system. Based on quantitative parameters, changes to the obstacle avoidance system and survey mission plans can be better informed.
{"title":"Evaluation of terrain collision risks for flight style autonomous underwater vehicles","authors":"Sophia M. Schillai, S. Turnock, E. Rogers, A. Phillips","doi":"10.1109/AUV.2016.7778689","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778689","url":null,"abstract":"Photographic surveys of the seafloor with flight style autonomous underwater vehicles are a very effective tool for discovery and exploration. Due to the high terrain collision risk for the survey vehicle, they are employed with caution. The extent of this risk remains unquantified. For mission planning, researchers and vehicle operators have to rely on their experience. This paper introduces measures for vehicle risk and success and analyses how previously mapped terrains and artificially generated terrain maps can be used to categorize terrains. The developed measures are applied to a simulation of the Autosub6000 flight style AUV terrain following system. Based on quantitative parameters, changes to the obstacle avoidance system and survey mission plans can be better informed.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130947512","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 : 2016-12-08DOI: 10.1109/AUV.2016.7778679
K. Asakawa, M. Nakamura, Y. Maeda, T. Hyakudome, Y. Ishihara
For long-term monitoring, the authors are developing a prototype underwater vehicle that can sleep on the seafloor or sleep while drifting underwater. Using these functions, it can carry out long-term monitoring of ocean environments while remaining in a designated area. Recent landing-sleep and drifting-sleep experiments yielded good results. Results of these experiments reported herein demonstrate that the landing motion showed good coincidence with the simulation result.
{"title":"Landing-sleep and drifting-sleep experiments of the underwater glider for long-term observation","authors":"K. Asakawa, M. Nakamura, Y. Maeda, T. Hyakudome, Y. Ishihara","doi":"10.1109/AUV.2016.7778679","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778679","url":null,"abstract":"For long-term monitoring, the authors are developing a prototype underwater vehicle that can sleep on the seafloor or sleep while drifting underwater. Using these functions, it can carry out long-term monitoring of ocean environments while remaining in a designated area. Recent landing-sleep and drifting-sleep experiments yielded good results. Results of these experiments reported herein demonstrate that the landing motion showed good coincidence with the simulation result.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123590271","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 : 2016-12-01DOI: 10.1109/AUV.2016.7778684
M. Brito
Effective autonomous underwater vehicle (AUV) mission uncertainty management requires identifying optimal mission profile based on multiple uncertain attributes. The new deep underwater glider being developed by the BRIDGES consortium will enable the use of low power AUV to sample three different phenomena: living things, sea mining and oil and gas exploration. In order to have the versatility to address these three requirements, the underwater glider will operate in a hybrid mode, using a buoyancy change and propeller based propulsion system. When we developed a failure model for this AUV we realized that different risk profiles are obtained if we are using different type of propulsion system. Therefore, we propose a multiple attribute utility technique to inform the optimal mission profile in light of mission risks and opportunities.
{"title":"Uncertainty management during hybrid autonomous underwater vehicle missions","authors":"M. Brito","doi":"10.1109/AUV.2016.7778684","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778684","url":null,"abstract":"Effective autonomous underwater vehicle (AUV) mission uncertainty management requires identifying optimal mission profile based on multiple uncertain attributes. The new deep underwater glider being developed by the BRIDGES consortium will enable the use of low power AUV to sample three different phenomena: living things, sea mining and oil and gas exploration. In order to have the versatility to address these three requirements, the underwater glider will operate in a hybrid mode, using a buoyancy change and propeller based propulsion system. When we developed a failure model for this AUV we realized that different risk profiles are obtained if we are using different type of propulsion system. Therefore, we propose a multiple attribute utility technique to inform the optimal mission profile in light of mission risks and opportunities.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"50 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126354329","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 : 2016-11-08DOI: 10.1109/AUV.2016.7778698
A. Lidtke, S. Turnock, J. Downes
The process of designing an apt hydrodynamic shape for a new underwater glider is discussed. Intermediate stages include selecting a suitable axi-symmetric hull shape, adding hydrofoils and appendages, and evaluating the performance of the final design. All of the hydrodynamic characteristics are obtained using computational fluid dynamics using the kT - kL - ω transition model. It is shown that drag reduction of the main glider hull is of crucial importance to the ultimate performance. Suggested steps for achieving this are the encouragement of natural laminar flow, integration of sensors into the streamlined hull shape, and sound operational practice.
{"title":"Assessment of underwater glider performance through viscous computational fluid dynamics","authors":"A. Lidtke, S. Turnock, J. Downes","doi":"10.1109/AUV.2016.7778698","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778698","url":null,"abstract":"The process of designing an apt hydrodynamic shape for a new underwater glider is discussed. Intermediate stages include selecting a suitable axi-symmetric hull shape, adding hydrofoils and appendages, and evaluating the performance of the final design. All of the hydrodynamic characteristics are obtained using computational fluid dynamics using the kT - kL - ω transition model. It is shown that drag reduction of the main glider hull is of crucial importance to the ultimate performance. Suggested steps for achieving this are the encouragement of natural laminar flow, integration of sensors into the streamlined hull shape, and sound operational practice.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128234054","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 : 2016-11-08DOI: 10.1109/AUV.2016.7778670
Seonghun Hong, Jinwhan Kim
Visual inspection of underwater structures including ship-hull inspection has been performed by human divers. It is a highly dangerous task and thus can be a potential application for unmanned underwater vehicles. This paper introduces an efficient visual simultaneous localization and mapping (SLAM) algorithm that can be applied to the autonomous inspection of underwater structures. Considering that visual features are sparsely located on the surface of typical underwater structures, the proposed visual SLAM algorithm employs a selective image registration scheme consisting of key-frame selection and key-pair selection. By using only potentially effective images and image pairs for feature-based image registration, the computational burden of the visual SLAM can be substantially reduced, compared with the conventional method. Experimental results using a hover-capable unmanned underwater vehicle verify the practical feasibility and performance of the proposed methodology.
{"title":"Efficient visual SLAM using selective image registration for autonomous inspection of underwater structures","authors":"Seonghun Hong, Jinwhan Kim","doi":"10.1109/AUV.2016.7778670","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778670","url":null,"abstract":"Visual inspection of underwater structures including ship-hull inspection has been performed by human divers. It is a highly dangerous task and thus can be a potential application for unmanned underwater vehicles. This paper introduces an efficient visual simultaneous localization and mapping (SLAM) algorithm that can be applied to the autonomous inspection of underwater structures. Considering that visual features are sparsely located on the surface of typical underwater structures, the proposed visual SLAM algorithm employs a selective image registration scheme consisting of key-frame selection and key-pair selection. By using only potentially effective images and image pairs for feature-based image registration, the computational burden of the visual SLAM can be substantially reduced, compared with the conventional method. Experimental results using a hover-capable unmanned underwater vehicle verify the practical feasibility and performance of the proposed methodology.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125886095","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778709
Youssef Essaouari, A. Turetta
Offshore seismic surveys are an indispensable part of the offshore oil and gas exploration, they provide an image of Earth's subsurface that can be used to determine the location and the size of the oil and gas reservoirs. The actual offshore seismic surveys are done with specific vessels towing up to ten kilometers of cables where the seismic sensors are attached, this technology have many disadvantages, such as the high cost for operating the vessel, maneuverability limitations in very shallow water and geometric inflexibility of the sensors. In this paper we present a novel technology for offshore seismic surveys based on autonomous underwater vehicles. A centralized formation control approach is adopted combined with a centralized localization and communication systems in order to validate the proof of concept of this technology.
{"title":"Cooperative underwater mission: Offshore seismic data acquisition using multiple autonomous underwater vehicles","authors":"Youssef Essaouari, A. Turetta","doi":"10.1109/AUV.2016.7778709","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778709","url":null,"abstract":"Offshore seismic surveys are an indispensable part of the offshore oil and gas exploration, they provide an image of Earth's subsurface that can be used to determine the location and the size of the oil and gas reservoirs. The actual offshore seismic surveys are done with specific vessels towing up to ten kilometers of cables where the seismic sensors are attached, this technology have many disadvantages, such as the high cost for operating the vessel, maneuverability limitations in very shallow water and geometric inflexibility of the sensors. In this paper we present a novel technology for offshore seismic surveys based on autonomous underwater vehicles. A centralized formation control approach is adopted combined with a centralized localization and communication systems in order to validate the proof of concept of this technology.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116935087","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778672
Damien Guihen, P. King
The marine environment is patchy, that is there are distributions of physical, chemical and biological features that are uneven across multiple spatial and temporal scales. Spatial scales range from the molecular level to thousands of kilometers, under the influence of processes such as diffusion, advection by oceanic currents, animal movement and planetary rotation. Making robust measurements of this patchiness is made significantly more difficult in these anisotropic conditions due to aliasing and irregular encounter rates. Understanding the causes and consequences of marine spatial and temporal variability is an essential step toward a better interpretation of environmental and ecological structure and function and requires careful planning and interpretation of sampling surveys. We present a simulation package for assessing an AUV platform and sensor packages' ability to resolve features of interest in an anisotropic environment and for assessing survey design under differing probabilities of encounter. The simulation code is freely available for download and modification.
{"title":"A model Of AUV survey feature resolution and error estimation for deployment optimization","authors":"Damien Guihen, P. King","doi":"10.1109/AUV.2016.7778672","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778672","url":null,"abstract":"The marine environment is patchy, that is there are distributions of physical, chemical and biological features that are uneven across multiple spatial and temporal scales. Spatial scales range from the molecular level to thousands of kilometers, under the influence of processes such as diffusion, advection by oceanic currents, animal movement and planetary rotation. Making robust measurements of this patchiness is made significantly more difficult in these anisotropic conditions due to aliasing and irregular encounter rates. Understanding the causes and consequences of marine spatial and temporal variability is an essential step toward a better interpretation of environmental and ecological structure and function and requires careful planning and interpretation of sampling surveys. We present a simulation package for assessing an AUV platform and sensor packages' ability to resolve features of interest in an anisotropic environment and for assessing survey design under differing probabilities of encounter. The simulation code is freely available for download and modification.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121112189","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778652
S. Yokota, Kangsoo Kim, Motonobu Imasato, Kenichiro Sawada, K. Tamura, K. Nakane, H. Koyama, K. Nagahashi, T. Obata, Y. Oyabu
In recent years, Autonomous Underwater Vehicle (AUV) has received much attention as a tool of ocean survey. One of the method for the efficient of hydrothermal deposits investigation is multiple vehicle operation of AUVs. The aim of our work is to development the small and inexpensive AUV and operate together with other AUVs. This paper introduce the first AUV in our project, and show the result for the sea trial of the AUV.
{"title":"Development and sea trial of an Autonomous Underwater Vehicle equipped with a sub-bottom profiler for surveying mineral resources","authors":"S. Yokota, Kangsoo Kim, Motonobu Imasato, Kenichiro Sawada, K. Tamura, K. Nakane, H. Koyama, K. Nagahashi, T. Obata, Y. Oyabu","doi":"10.1109/AUV.2016.7778652","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778652","url":null,"abstract":"In recent years, Autonomous Underwater Vehicle (AUV) has received much attention as a tool of ocean survey. One of the method for the efficient of hydrothermal deposits investigation is multiple vehicle operation of AUVs. The aim of our work is to development the small and inexpensive AUV and operate together with other AUVs. This paper introduce the first AUV in our project, and show the result for the sea trial of the AUV.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123360674","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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