Pub Date : 2015-05-20DOI: 10.1109/ICCAR.2015.7166036
S. Pradeep, N. Avinash, M. Shashi Kumar
Image segmentation and classification is a tough when there are partial occlusion, reflection, and shadows in the image which increase false alarms. This paper describes the method for defining regions of interest in an image using ultrasonic sensors data which will be further used for image segmentation and classification. Sensors mounted in the view of the camera are calibrated for their position with respect to the camera to the relative distance between the human and robot. Depending on these calibration parameters, the image is divided into number of regions that is equivalent to number of sensors.
{"title":"Ultrasonic sensor based approach for identifying the camera ROI","authors":"S. Pradeep, N. Avinash, M. Shashi Kumar","doi":"10.1109/ICCAR.2015.7166036","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166036","url":null,"abstract":"Image segmentation and classification is a tough when there are partial occlusion, reflection, and shadows in the image which increase false alarms. This paper describes the method for defining regions of interest in an image using ultrasonic sensors data which will be further used for image segmentation and classification. Sensors mounted in the view of the camera are calibrated for their position with respect to the camera to the relative distance between the human and robot. Depending on these calibration parameters, the image is divided into number of regions that is equivalent to number of sensors.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122620158","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7165995
M. Alkalla, M. Fanni, A. Mohamed
This work focuses on proposing and designing a new climbing robot to explore the interiors of industrial vessels and enables a human outside the vessels to implement required regular inspection tasks efficiently. There are two main adhesion systems in the literature: magnetic and air suction systems. The magnetic system climbs surfaces made of ferromagnetic materials only, while air suction system cannot handle irregular surfaces due to possible seals damage. Opposite to previous climbing robots, the proposed robot here can climb and navigate vessels made from different materials besides handling possible irregular surfaces during inspection. Its main task is visual inspection of welds and any critical spots inside these vessels. The novelty of this robot comes from utilizing a hybrid actuation system. This hybrid actuation system consists of upturned propellers fixed on mobile robot and motorized wheels of the mobile robot. The pressure generated from the upturned propellers increase the friction force between the wheels of the mobile robot and the wall. The wheels' motors generate the required torque either to fix the robot in any position or to move it to any place. Since the motion of the robot comes mainly from the motorized wheel, the stability of the system during navigation is guaranteed. Size and topology optimizations are carried out to achieve optimum design of the proposed robot. Simulation results of the designed robot using ADAMS software prove its feasibility.
{"title":"Versatile climbing robot for vessels inspection","authors":"M. Alkalla, M. Fanni, A. Mohamed","doi":"10.1109/ICCAR.2015.7165995","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7165995","url":null,"abstract":"This work focuses on proposing and designing a new climbing robot to explore the interiors of industrial vessels and enables a human outside the vessels to implement required regular inspection tasks efficiently. There are two main adhesion systems in the literature: magnetic and air suction systems. The magnetic system climbs surfaces made of ferromagnetic materials only, while air suction system cannot handle irregular surfaces due to possible seals damage. Opposite to previous climbing robots, the proposed robot here can climb and navigate vessels made from different materials besides handling possible irregular surfaces during inspection. Its main task is visual inspection of welds and any critical spots inside these vessels. The novelty of this robot comes from utilizing a hybrid actuation system. This hybrid actuation system consists of upturned propellers fixed on mobile robot and motorized wheels of the mobile robot. The pressure generated from the upturned propellers increase the friction force between the wheels of the mobile robot and the wall. The wheels' motors generate the required torque either to fix the robot in any position or to move it to any place. Since the motion of the robot comes mainly from the motorized wheel, the stability of the system during navigation is guaranteed. Size and topology optimizations are carried out to achieve optimum design of the proposed robot. Simulation results of the designed robot using ADAMS software prove its feasibility.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132753530","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7165996
A. Buschhaus, N. Apel, J. Franke
Promising approaches for robot accuracy improvements belong to the visual servoing methods. These methods comprise closed-loop control systems, which utilize sensors to guide the robot relative to visible features of a work-piece. However, the known methods show limitations regarding their usability for highly accurate applications or tasks without a predetermined process pathway. To overcome this problem, at FAPS a system for high-speed monitoring of the work-piece's movement is investigated. The system enables a closed-loop control of the robots motion, if a deviation between actual and planned movement is determined. For the actual movement determination, a highly efficient and accurate image data processing system, based on a vectorial movement determination of fiducial markers is developed. In this context, a highly efficient and geometrical accurate actual state determination constitutes a significant challenge. Experiments show, that the system allows a position determination in an area of ten microns at a frequency faster than 500 Hz, thus enabling a reactive robot control and accuracy improvement.
{"title":"Method for vectorial robot movement determination enabling accuracy improvements","authors":"A. Buschhaus, N. Apel, J. Franke","doi":"10.1109/ICCAR.2015.7165996","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7165996","url":null,"abstract":"Promising approaches for robot accuracy improvements belong to the visual servoing methods. These methods comprise closed-loop control systems, which utilize sensors to guide the robot relative to visible features of a work-piece. However, the known methods show limitations regarding their usability for highly accurate applications or tasks without a predetermined process pathway. To overcome this problem, at FAPS a system for high-speed monitoring of the work-piece's movement is investigated. The system enables a closed-loop control of the robots motion, if a deviation between actual and planned movement is determined. For the actual movement determination, a highly efficient and accurate image data processing system, based on a vectorial movement determination of fiducial markers is developed. In this context, a highly efficient and geometrical accurate actual state determination constitutes a significant challenge. Experiments show, that the system allows a position determination in an area of ten microns at a frequency faster than 500 Hz, thus enabling a reactive robot control and accuracy improvement.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132109233","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166022
Xuetao Duan, Yun-ling Wang
The automobile fuel injection signal detection device is designed based on single chip microcomputer. The device can be used to capture automobile fuel injection signal. The signal can provide the reference data for automobile fault diagnosis and repair. At the same time the reference data can be used for automobile routine maintenance. The device can also be used to display the real-time fuel consumption and modify drivers' driving habits with the automobile running.
{"title":"Design of automobile fuel injection signal detection device","authors":"Xuetao Duan, Yun-ling Wang","doi":"10.1109/ICCAR.2015.7166022","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166022","url":null,"abstract":"The automobile fuel injection signal detection device is designed based on single chip microcomputer. The device can be used to capture automobile fuel injection signal. The signal can provide the reference data for automobile fault diagnosis and repair. At the same time the reference data can be used for automobile routine maintenance. The device can also be used to display the real-time fuel consumption and modify drivers' driving habits with the automobile running.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134200455","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166013
Zhuang Jiayu, Xu Shiwei, Li Zhemin, Chen Wei, Wang Dongjie
This paper introduces a dynamic feedback crop simulation system used to simulate and forecast the growth of crops. It was known that a precise and effective crop simulation was beneficial for the investigating of crops' growth and production forecast. The real-time monitoring data applied for this simulation system was derived from Agriculture monitoring and early-warning research space (AMERS) which was established by Agriculture Information Institute of Chinese Academy of Agricultural Sciences. A more accurate and valid simulation system is proposed in this paper, by improving the system of agriculture model with the collected data. The corrected model is able to predict the crop's growth and yields more accurately. During the lifecycle of the whole crops the model is corrected and predicted continuously until the simulated data is highly consistent with the real data. The collected data can be used as the input of the simulation, and the corrected model for real-time feedback. A growth index which was calculated by the monitoring data used to measure the growth of crops was proposed. This growth index will responded to the crops simulation model for system amendment. The result of late growth and yield forecasting will be updated by the revised model. Two applications of this system were briefly introduced.
{"title":"Application of intelligence information fusion technology in agriculture monitoring and early-warning research","authors":"Zhuang Jiayu, Xu Shiwei, Li Zhemin, Chen Wei, Wang Dongjie","doi":"10.1109/ICCAR.2015.7166013","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166013","url":null,"abstract":"This paper introduces a dynamic feedback crop simulation system used to simulate and forecast the growth of crops. It was known that a precise and effective crop simulation was beneficial for the investigating of crops' growth and production forecast. The real-time monitoring data applied for this simulation system was derived from Agriculture monitoring and early-warning research space (AMERS) which was established by Agriculture Information Institute of Chinese Academy of Agricultural Sciences. A more accurate and valid simulation system is proposed in this paper, by improving the system of agriculture model with the collected data. The corrected model is able to predict the crop's growth and yields more accurately. During the lifecycle of the whole crops the model is corrected and predicted continuously until the simulated data is highly consistent with the real data. The collected data can be used as the input of the simulation, and the corrected model for real-time feedback. A growth index which was calculated by the monitoring data used to measure the growth of crops was proposed. This growth index will responded to the crops simulation model for system amendment. The result of late growth and yield forecasting will be updated by the revised model. Two applications of this system were briefly introduced.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125780244","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166033
Wang Dawei, Yang Hongyan
This paper proposes a big-span position tracking algorithm based on pre-position time series to determine the user operation intention in virtual environment. Some problems, such as lost subject and inconvenient operation, when a tracker is working on big-scale models, like an airplane or a ship, can't be solved well in an immersive virtual reality system. Based on the moving trajectory and speed of a tracker in a unit of time span, the tracking algorithm is a plus to the mainstream relative position algorithm. The algorithm can tell the magnitude and intensity of a user's operation. It makes it especially convenient to display large-scale models in the CAVE system. Cases are used in this thesis to prove the effectiveness and convenience of this algorithm.
{"title":"An intention based manipulation method of large models in virtual environment","authors":"Wang Dawei, Yang Hongyan","doi":"10.1109/ICCAR.2015.7166033","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166033","url":null,"abstract":"This paper proposes a big-span position tracking algorithm based on pre-position time series to determine the user operation intention in virtual environment. Some problems, such as lost subject and inconvenient operation, when a tracker is working on big-scale models, like an airplane or a ship, can't be solved well in an immersive virtual reality system. Based on the moving trajectory and speed of a tracker in a unit of time span, the tracking algorithm is a plus to the mainstream relative position algorithm. The algorithm can tell the magnitude and intensity of a user's operation. It makes it especially convenient to display large-scale models in the CAVE system. Cases are used in this thesis to prove the effectiveness and convenience of this algorithm.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122319231","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7165994
J. Prajapati
Because of potential benefits like, structural rigidity, good dynamic performance and positioning accuracy, parallel mechanism based robot manipulators became more popular over the serial mechanism based robot manipulators. The forward kinematics of parallel mechanism is complex in comparison to the serial mechanism. This paper presents the forward instantaneous kinematics of a six degree of freedom parallel robot manipulator. Three non linear points are considered on the end effector. The presented method is based on the velocities of these points. A numerical example is solved to demonstrate the solution process.
{"title":"Kinematics of parallel mechanism based robot manipulator with passive joints variables","authors":"J. Prajapati","doi":"10.1109/ICCAR.2015.7165994","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7165994","url":null,"abstract":"Because of potential benefits like, structural rigidity, good dynamic performance and positioning accuracy, parallel mechanism based robot manipulators became more popular over the serial mechanism based robot manipulators. The forward kinematics of parallel mechanism is complex in comparison to the serial mechanism. This paper presents the forward instantaneous kinematics of a six degree of freedom parallel robot manipulator. Three non linear points are considered on the end effector. The presented method is based on the velocities of these points. A numerical example is solved to demonstrate the solution process.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127979122","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166003
Adik S. Wardoyo, S. Hendi, D. Sebayang, I. Hidayat, A. Adriansyah
The Fuzzy logic combined with PID control is designed to implement the effect of a disturbance force varying in magnitude, position, and duration to optimize the two wheeled and self-balancing robot. Matlab software was used to obtain Simulink-simulation of the experiment process. The simulation results shows that PID parameters that obtained from the use of auto-tuning is Kp = 16.60, Ki = 8.47, and Kd = 8.90. The simulation results of Fuzzy and PID combination shows that the error can be reduce approximately around 60 %. It is indicated that the Fuzzy logic with PID was better to reduce error in Two Wheeled and Self Balancing Robot than using Fuzzy logic.
设计了模糊逻辑与PID控制相结合的方法，实现了扰动力大小、位置和持续时间的变化，对两轮自平衡机器人进行了优化。利用Matlab软件获取simulink对实验过程进行仿真。仿真结果表明，采用自整定方法得到的PID参数Kp = 16.60, Ki = 8.47, Kd = 8.90。仿真结果表明，模糊控制与PID控制相结合可使控制误差减小约60%。结果表明，与模糊逻辑相比，模糊逻辑与PID相结合能更好地减小两轮自平衡机器人的误差。
{"title":"An investigation on the application of fuzzy and PID algorithm in the two wheeled robot with self balancing system using microcontroller","authors":"Adik S. Wardoyo, S. Hendi, D. Sebayang, I. Hidayat, A. Adriansyah","doi":"10.1109/ICCAR.2015.7166003","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166003","url":null,"abstract":"The Fuzzy logic combined with PID control is designed to implement the effect of a disturbance force varying in magnitude, position, and duration to optimize the two wheeled and self-balancing robot. Matlab software was used to obtain Simulink-simulation of the experiment process. The simulation results shows that PID parameters that obtained from the use of auto-tuning is Kp = 16.60, Ki = 8.47, and Kd = 8.90. The simulation results of Fuzzy and PID combination shows that the error can be reduce approximately around 60 %. It is indicated that the Fuzzy logic with PID was better to reduce error in Two Wheeled and Self Balancing Robot than using Fuzzy logic.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130443842","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166031
Anurag Tiwari, Gouthaman Elangovan, P. Chang, S. Annadurai
In this paper, we consider a Prize Colleting Vehicle Routing Problem (PCVRP). Prize collecting Vehicle Routing Problem is a Variant of Vehicle routing Problem. One of the major concerns of the Prize collecting Vehicle routing problem is that all customers need not to be visited compulsory, but prize must be collected from each customer visited and a penalty has to be paid for every unvisited customer. To guarantee good customer satisfaction, the demand of all visited customers should reach a pre specified value. The objective of this paper is minimization of total distance and total cost of schedule by maximizing the total prize collected by each customers. We have proposed a Hybrid edge recombination approach to solve the PCVRP. To avoid the bias we compare the result with other well know evolutionary algorithm. Computational result shows that the proposed methodology has the promising result.
{"title":"A hybrid edge recombination approach to solve price collecting vehicle routing problem","authors":"Anurag Tiwari, Gouthaman Elangovan, P. Chang, S. Annadurai","doi":"10.1109/ICCAR.2015.7166031","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166031","url":null,"abstract":"In this paper, we consider a Prize Colleting Vehicle Routing Problem (PCVRP). Prize collecting Vehicle Routing Problem is a Variant of Vehicle routing Problem. One of the major concerns of the Prize collecting Vehicle routing problem is that all customers need not to be visited compulsory, but prize must be collected from each customer visited and a penalty has to be paid for every unvisited customer. To guarantee good customer satisfaction, the demand of all visited customers should reach a pre specified value. The objective of this paper is minimization of total distance and total cost of schedule by maximizing the total prize collected by each customers. We have proposed a Hybrid edge recombination approach to solve the PCVRP. To avoid the bias we compare the result with other well know evolutionary algorithm. Computational result shows that the proposed methodology has the promising result.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127473933","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166030
Meng-Hui Chen, Ching-Ying Chiu, P. Chang, S. Annadurai
Capacitated Vehicle Routing Problem (CVRP) is a variant of Vehicle Routing Problem (VRP), where CVRP is only considered the capacity restrictions, and the object is to minimize the cost of the vehicles serve all customers. In this study, we proposed an approach which is hybrid two-phase sweep algorithm (SA) and greedy search for solving CVRP. At the first stage of SA, all customers are clustered by SA and define each cluster as a block. The second stage is to reconstruct each neighbour clusters based on the first stage. Then the greedy search is applied to minimize the cost of each vehicle. Finally, the computational result on standard instances show the proposed approach is effective.
{"title":"A hybrid two-stage sweep algorithm for capacitated vehicle routing problem","authors":"Meng-Hui Chen, Ching-Ying Chiu, P. Chang, S. Annadurai","doi":"10.1109/ICCAR.2015.7166030","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166030","url":null,"abstract":"Capacitated Vehicle Routing Problem (CVRP) is a variant of Vehicle Routing Problem (VRP), where CVRP is only considered the capacity restrictions, and the object is to minimize the cost of the vehicles serve all customers. In this study, we proposed an approach which is hybrid two-phase sweep algorithm (SA) and greedy search for solving CVRP. At the first stage of SA, all customers are clustered by SA and define each cluster as a block. The second stage is to reconstruct each neighbour clusters based on the first stage. Then the greedy search is applied to minimize the cost of each vehicle. Finally, the computational result on standard instances show the proposed approach is effective.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"147-149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125350134","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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