Pub Date : 2016-08-01DOI: 10.1109/CGNCC.2016.7829055
Wei-wei Cai, Pu Zeng, Le-ping Yang, Yanwei Zhu
As the spacecraft relative motion control actuated by inter-satellite electromagnetic forces become a key concern in the space domain, the need to analyze the specific dynamic characteristics is apparent and important for better control performance. Based on the assumption of large separation distance between spacecraft and a circular reference orbit of the formation mass center, the relative translational dynamic model is developed. Then three typical configurations of the magnetic dipoles are given, and the implications of the corresponding electromagnetic forces are analyzed, as well as the dynamic mechanisms behind. Some useful conclusions follow in the end.
{"title":"Study on the implications of inter-satellite electromagnetic forces for relative translational motion","authors":"Wei-wei Cai, Pu Zeng, Le-ping Yang, Yanwei Zhu","doi":"10.1109/CGNCC.2016.7829055","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7829055","url":null,"abstract":"As the spacecraft relative motion control actuated by inter-satellite electromagnetic forces become a key concern in the space domain, the need to analyze the specific dynamic characteristics is apparent and important for better control performance. Based on the assumption of large separation distance between spacecraft and a circular reference orbit of the formation mass center, the relative translational dynamic model is developed. Then three typical configurations of the magnetic dipoles are given, and the implications of the corresponding electromagnetic forces are analyzed, as well as the dynamic mechanisms behind. Some useful conclusions follow in the end.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121945618","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828840
Chao Cai, Weihong Wang
As for the disadvantageous influence on the flight simulator servo system caused by external disturbance, system uncertainties and model parameters fluctuating, an adaptive nonsingular fast terminal sliding mode controller is designed, and the stability of the system is proved. The fuzzy disturbance observer is used to compensate the disturbance and uncertainties. Combining nonsingular fast terminal sliding mode control with fuzzy disturbance observer, the proposed controller also has the advantage of small tracking error and good dynamic performance. Experiment results on flight simulator are presented to demonstrate the effectiveness of the proposed algorithm. The results show that compared with fast terminal sliding mode control, the proposed control algorithm has better tracking accuracy with fast respond speed, and good low-speed and high frequency characteristics in a proper frequency range.
{"title":"Adaptive nonsingular fast terminal sliding mode control for flight simulator servo system","authors":"Chao Cai, Weihong Wang","doi":"10.1109/CGNCC.2016.7828840","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828840","url":null,"abstract":"As for the disadvantageous influence on the flight simulator servo system caused by external disturbance, system uncertainties and model parameters fluctuating, an adaptive nonsingular fast terminal sliding mode controller is designed, and the stability of the system is proved. The fuzzy disturbance observer is used to compensate the disturbance and uncertainties. Combining nonsingular fast terminal sliding mode control with fuzzy disturbance observer, the proposed controller also has the advantage of small tracking error and good dynamic performance. Experiment results on flight simulator are presented to demonstrate the effectiveness of the proposed algorithm. The results show that compared with fast terminal sliding mode control, the proposed control algorithm has better tracking accuracy with fast respond speed, and good low-speed and high frequency characteristics in a proper frequency range.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122016375","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}
A novel impact-time-control guidance law based on nonlinear kinematics is presented for an interceptor against a stationary target. Exact closed form expression for the guidance command is derived by introducing an indirect variable, and the performance index of a pseudo-control energy has been minimized to increase the robustness against disturbances appeared at the terminal stage. The implementation of the guidance law involves no estimation of time-to-go procedure but provides for exact time-on-target control. The new guidance law called NITCG(Nonlinear Impact-Time-Control Guidance) can be used in salvo attack where multiple missiles are launched for a simultaneous hit on the target. Numerical simulation results are carried out to verify the performance of the guidance law for different engagement scenarios.
{"title":"A Nonlinear Impact-Time-Control Guidance law for salvo attack","authors":"Qiuhui Yang, Shaoke Qian, Lina Geng, Zhiqiang Zheng","doi":"10.1109/CGNCC.2016.7828953","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828953","url":null,"abstract":"A novel impact-time-control guidance law based on nonlinear kinematics is presented for an interceptor against a stationary target. Exact closed form expression for the guidance command is derived by introducing an indirect variable, and the performance index of a pseudo-control energy has been minimized to increase the robustness against disturbances appeared at the terminal stage. The implementation of the guidance law involves no estimation of time-to-go procedure but provides for exact time-on-target control. The new guidance law called NITCG(Nonlinear Impact-Time-Control Guidance) can be used in salvo attack where multiple missiles are launched for a simultaneous hit on the target. Numerical simulation results are carried out to verify the performance of the guidance law for different engagement scenarios.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125721892","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828854
M. Tahir, Z. Ren
In this paper, missile guided by modified proportional navigation guidance (MPNG) law intercepts the maneuvering target using estimated target acceleration. Target acceleration is taken as an input and is estimated with retrospective cost-based-adaptive input and state estimation (RCAISE). Prior optimized input estimates are used in the adaptive input estimator, which is based on the recursive least squares, to estimate the unknown input acceleration of the maneuvering target. Kalman filter uses the estimated input acceleration of the target to estimates the states of the maneuvering target. MPNG law uses the estimated input acceleration of the target to intercept the maneuvering target. Numerical simulation results present herein, demonstrate better performance of the RCAISE as compare to other classical estimation methods.
{"title":"Maneuvering target interception using retrospective-cost-based adaptive input and state estimation","authors":"M. Tahir, Z. Ren","doi":"10.1109/CGNCC.2016.7828854","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828854","url":null,"abstract":"In this paper, missile guided by modified proportional navigation guidance (MPNG) law intercepts the maneuvering target using estimated target acceleration. Target acceleration is taken as an input and is estimated with retrospective cost-based-adaptive input and state estimation (RCAISE). Prior optimized input estimates are used in the adaptive input estimator, which is based on the recursive least squares, to estimate the unknown input acceleration of the maneuvering target. Kalman filter uses the estimated input acceleration of the target to estimates the states of the maneuvering target. MPNG law uses the estimated input acceleration of the target to intercept the maneuvering target. Numerical simulation results present herein, demonstrate better performance of the RCAISE as compare to other classical estimation methods.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127240579","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828843
Jianjuan Liu, Hongmei Chen, Nanbo Liu
This article aims at improving positioning precision and stability of the SINS/Doppler/Platform Compass integrated navigation system. Firstly, based on considering of the characteristic and performance of the integrated system, the system model is established. And the discrete state and measurement equations are achieved. Secondly, traditional Kalman filter for this system is usually unstable, and easy to divergent. So reasons for divergence of integrated navigation with traditional Kalman filter is analyzed. Thirdly, Sage-Husa Kalman filter based on UD decomposition is designed. And some improvements have been made according to the analysis results. Finally, several simulation experiments were made to test the effect of the improved algorithms. The simulation results indicate that improved Sage-Husa Kalman filter based on UD decomposition can guarantee the precision and stability of the SINS/Doppler/Platform Compass integrated navigation system.
{"title":"Effective Sage-Husa Kalman filter for SINS/Doppler/Platform Compass integrated navigation system","authors":"Jianjuan Liu, Hongmei Chen, Nanbo Liu","doi":"10.1109/CGNCC.2016.7828843","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828843","url":null,"abstract":"This article aims at improving positioning precision and stability of the SINS/Doppler/Platform Compass integrated navigation system. Firstly, based on considering of the characteristic and performance of the integrated system, the system model is established. And the discrete state and measurement equations are achieved. Secondly, traditional Kalman filter for this system is usually unstable, and easy to divergent. So reasons for divergence of integrated navigation with traditional Kalman filter is analyzed. Thirdly, Sage-Husa Kalman filter based on UD decomposition is designed. And some improvements have been made according to the analysis results. Finally, several simulation experiments were made to test the effect of the improved algorithms. The simulation results indicate that improved Sage-Husa Kalman filter based on UD decomposition can guarantee the precision and stability of the SINS/Doppler/Platform Compass integrated navigation system.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127484582","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828891
G. Zhaohui, Kewei Tong, Zhang Feng, Cai Yi
Based on the conical curve algorithm and Lambert algorithm, use assistant graph algorithm to calculate interstellar transfer orbit and understand the Earth-Mars transfer orbit mission windows. The calculated result shows that there is one launch time on the Earth-Mars transfer orbit every 2.1 years. In every 15 years, there must be a pair of launch times which are almost same. So based on the DRA5.0 nuclear energy project for Manned Space of Mars, introduce a new Mars explored mission based on the Earth Space Elevation. The result shows that the aero-craft's velocity will reduce 2.4 km/s based on the space elevation when it is launched from the earth, the freighted aero-craft's size will decrease 19% and the manned aero-craft's size will decrease 26.9%.
{"title":"Mission analysis of human Mars exploration based on Space Elevator","authors":"G. Zhaohui, Kewei Tong, Zhang Feng, Cai Yi","doi":"10.1109/CGNCC.2016.7828891","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828891","url":null,"abstract":"Based on the conical curve algorithm and Lambert algorithm, use assistant graph algorithm to calculate interstellar transfer orbit and understand the Earth-Mars transfer orbit mission windows. The calculated result shows that there is one launch time on the Earth-Mars transfer orbit every 2.1 years. In every 15 years, there must be a pair of launch times which are almost same. So based on the DRA5.0 nuclear energy project for Manned Space of Mars, introduce a new Mars explored mission based on the Earth Space Elevation. The result shows that the aero-craft's velocity will reduce 2.4 km/s based on the space elevation when it is launched from the earth, the freighted aero-craft's size will decrease 19% and the manned aero-craft's size will decrease 26.9%.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129006095","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}
State estimation plays an important role for both process control and fault detection. In this paper, a methodology of multi-group particle filter is proposed for the uncertainty problem of state initialization in the nonlinear process systems. The measurement test criterion is introduced to indirectly identify whether the state initialization is accurate. According to the result of identification, multi-group particle filter is selected to generate the initial particles under bad state initialization, which can increase the probability of generating correct initial particles. The rectified errors of observed variables are used for the selection of the optimal particles. Finally, reliable state estimation would be derived through iterative particles. The proposed methodology of multi-group particle filter is compared with the generic particle filtering method through two examples of nonlinear dynamic systems. The results demonstrate the effectiveness and robustness of the proposed methodology.
{"title":"Methodology of multi-group particle filter for robust state estimation in nonlinear dynamic process systems","authors":"Tingting Cao, Zhengjiang Zhang, Zhen Xu, Zhiliang Zhu, Zhengbing Yan, Chong-Wei Zheng","doi":"10.1109/CGNCC.2016.7829164","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7829164","url":null,"abstract":"State estimation plays an important role for both process control and fault detection. In this paper, a methodology of multi-group particle filter is proposed for the uncertainty problem of state initialization in the nonlinear process systems. The measurement test criterion is introduced to indirectly identify whether the state initialization is accurate. According to the result of identification, multi-group particle filter is selected to generate the initial particles under bad state initialization, which can increase the probability of generating correct initial particles. The rectified errors of observed variables are used for the selection of the optimal particles. Finally, reliable state estimation would be derived through iterative particles. The proposed methodology of multi-group particle filter is compared with the generic particle filtering method through two examples of nonlinear dynamic systems. The results demonstrate the effectiveness and robustness of the proposed methodology.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130694156","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828894
Tong Liu, Weida Wang, Xiao-Xi Wang
A Multivariate Statistical Process Control-based health monitor technology for a flap/slat control system of civilian aircraft was proposed. A diagnostic model based on Multivariate Statistical process Control (MSPC) method and its simulation results for flap/slat control system (FSCS) were presented. Then reasons for performance degradation of FSCS were analyzed. Runger U2 statistics was used as core algorithm of the monitoring technology. Two sensor measurements concluding system command current and aerodynamic load as the feature parameters of performance degradation were selected. The sensitive of the parameters to failure conditions were differentiate. The feature parameters-based system's operation normal pattern and threshold were obtained. The threshold and a difference between collected variables and normal pattern and were compared to judge the system's abnormal behavior. The experimental results demonstrate that the proposed methodology produces significant performance improvements over other algorithms.
{"title":"A health monitoring technology based on MSPC for civilian aircraft flap/slat control system","authors":"Tong Liu, Weida Wang, Xiao-Xi Wang","doi":"10.1109/CGNCC.2016.7828894","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828894","url":null,"abstract":"A Multivariate Statistical Process Control-based health monitor technology for a flap/slat control system of civilian aircraft was proposed. A diagnostic model based on Multivariate Statistical process Control (MSPC) method and its simulation results for flap/slat control system (FSCS) were presented. Then reasons for performance degradation of FSCS were analyzed. Runger U2 statistics was used as core algorithm of the monitoring technology. Two sensor measurements concluding system command current and aerodynamic load as the feature parameters of performance degradation were selected. The sensitive of the parameters to failure conditions were differentiate. The feature parameters-based system's operation normal pattern and threshold were obtained. The threshold and a difference between collected variables and normal pattern and were compared to judge the system's abnormal behavior. The experimental results demonstrate that the proposed methodology produces significant performance improvements over other algorithms.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125413734","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828830
Yi Zhu, Xin Chen, Chuntao Li
According to the unusual conformation and aerodynamic characteristic of a flying-wing UAV, a static projective control system is designed based on the robust and optimal theories. Firstly the features of a flying-wing UAV are presented and a 6 DOF (degree of freedom) nonlinear model of the aircraft is given. Secondly the static projective control method is formulated in three parts: (1) modeling of an expanded robust-servo system; (2) applying the LQR (Linear Quadratic Regulator) method of optimal control to the robust-servo system; (3) using the static projective law to reconstruct the closed loop system by output feedback as a substitute for LQR state feedback. After that an example of a particular static projective controller designing is presented. In simulation, a trajectory tracking example is given by adding additional outer loop controllers outside the static projective controllers. The characteristics of the static projective controllers are shown by a comparison with the ordinary PID attitude autopilot. Then a satisfactory trajectory tracking result is shown which indicates the excellent transient performance and accuracy of static projective controllers of the inner loops.
{"title":"A static projective control method of a flying-wing UAV based on the robust and optimal theories","authors":"Yi Zhu, Xin Chen, Chuntao Li","doi":"10.1109/CGNCC.2016.7828830","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828830","url":null,"abstract":"According to the unusual conformation and aerodynamic characteristic of a flying-wing UAV, a static projective control system is designed based on the robust and optimal theories. Firstly the features of a flying-wing UAV are presented and a 6 DOF (degree of freedom) nonlinear model of the aircraft is given. Secondly the static projective control method is formulated in three parts: (1) modeling of an expanded robust-servo system; (2) applying the LQR (Linear Quadratic Regulator) method of optimal control to the robust-servo system; (3) using the static projective law to reconstruct the closed loop system by output feedback as a substitute for LQR state feedback. After that an example of a particular static projective controller designing is presented. In simulation, a trajectory tracking example is given by adding additional outer loop controllers outside the static projective controllers. The characteristics of the static projective controllers are shown by a comparison with the ordinary PID attitude autopilot. Then a satisfactory trajectory tracking result is shown which indicates the excellent transient performance and accuracy of static projective controllers of the inner loops.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126885469","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7829112
Fu Jia-Ning, Fu Qiang, Usman Arif, Q. Quan
Pose estimation plays a vital role in landing guidance of quadcopter unmanned aerial vehicles. In this paper, a continuous-time optimization method is proposed to estimate the pose of a moving object only using an off-board camera. The optimization time that can vary depending upon the desired accuracy and computational speed, and it is finally transferred into solving an ordinary differential equation. Based on the proposed method, a pose estimation system with a camera and a pan-tilt unit is established. The system accuracy and algorithm correctness are tested in an experiment with a moving board as the target. Experimental results indicate that the proposed method can track a moving target and estimate its position and attitude in real time. Therefore, it will be promising to use this method in landing guidance of quadcopter unmanned aerial vehicles.
{"title":"A pose estimation method of a moving target based on off-board monocular vision","authors":"Fu Jia-Ning, Fu Qiang, Usman Arif, Q. Quan","doi":"10.1109/CGNCC.2016.7829112","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7829112","url":null,"abstract":"Pose estimation plays a vital role in landing guidance of quadcopter unmanned aerial vehicles. In this paper, a continuous-time optimization method is proposed to estimate the pose of a moving object only using an off-board camera. The optimization time that can vary depending upon the desired accuracy and computational speed, and it is finally transferred into solving an ordinary differential equation. Based on the proposed method, a pose estimation system with a camera and a pan-tilt unit is established. The system accuracy and algorithm correctness are tested in an experiment with a moving board as the target. Experimental results indicate that the proposed method can track a moving target and estimate its position and attitude in real time. Therefore, it will be promising to use this method in landing guidance of quadcopter unmanned aerial vehicles.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123232404","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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