Pub Date : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018318
M. Ruzicka, P. Masek
This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors - accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation of mobile robot. The position change is calculated for two axes based on vision data and the relative rotation is based on data fusion of three onboard sensors.
{"title":"Design of visual odometry system for mobile robot","authors":"M. Ruzicka, P. Masek","doi":"10.1109/MECHATRONIKA.2014.7018318","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018318","url":null,"abstract":"This paper deals with design of hybrid software and hardware sensor, which can be used for mobile robots visual odometry task. The paper is focused to sensing raw data only. This approach combines onboard hardware sensors - accelerometer, gyroscope, magnetometer and camera with software module, which is mainly based on computer vision. Output from vision system is relative change of position and rotation of mobile robot. The position change is calculated for two axes based on vision data and the relative rotation is based on data fusion of three onboard sensors.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134051555","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018319
R. Cipín, I. Pazdera, P. Procházka, J. Knobloch, D. Cervinka, J. Kadlec
This article deals with a comparison of discrete and continuous fractional speed controller of DC motor with permanent magnets. The first part of this article deals with an introduction into fractional calculus with aim to software implementation of fractional controller. The discrete controller is based on direct use of Grunwald-Letnikov interpretation of fraction derivative. The continuous fractional controller is based on Oustaloup's recursive approximation of fractional derivative. The second part deals with a comparison of both fractional controllers with a PI controller for DC motor with permanent magnets. Optimal parameters for all controllers are found by a genetic algorithm.
{"title":"Discrete and continuous fractional controllers","authors":"R. Cipín, I. Pazdera, P. Procházka, J. Knobloch, D. Cervinka, J. Kadlec","doi":"10.1109/MECHATRONIKA.2014.7018319","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018319","url":null,"abstract":"This article deals with a comparison of discrete and continuous fractional speed controller of DC motor with permanent magnets. The first part of this article deals with an introduction into fractional calculus with aim to software implementation of fractional controller. The discrete controller is based on direct use of Grunwald-Letnikov interpretation of fraction derivative. The continuous fractional controller is based on Oustaloup's recursive approximation of fractional derivative. The second part deals with a comparison of both fractional controllers with a PI controller for DC motor with permanent magnets. Optimal parameters for all controllers are found by a genetic algorithm.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114502651","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018303
V. Kindl, K. Hruska, J. Sobra, M. Byrtus
The paper discusses the air gap field distribution of an induction machine operating under special conditions. It focuses mainly on effects of machine's load and its rotor eccentricity on volume of space harmonics and their magnitudes. The study compares limited analytical prediction with full-scale FEA approach and gives a short overview of crucial aspects of machines' design.
{"title":"Effect of induction machine's load and rotor eccentricity on space harmonics in the air gap magnetic flux density","authors":"V. Kindl, K. Hruska, J. Sobra, M. Byrtus","doi":"10.1109/MECHATRONIKA.2014.7018303","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018303","url":null,"abstract":"The paper discusses the air gap field distribution of an induction machine operating under special conditions. It focuses mainly on effects of machine's load and its rotor eccentricity on volume of space harmonics and their magnitudes. The study compares limited analytical prediction with full-scale FEA approach and gives a short overview of crucial aspects of machines' design.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131087149","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018315
Pham Ich Quy, M. Polasek
Image processing techniques play an important role in military applications. Image binarization could be understood as a process of pixel values segmentation of grayscale image into two value groups, zero as a background and 1 as a foreground. In simple humor application of object detection we assume that contrast distribution of foreground is uniformed and without background noise or that variation in contrast does not exist. However, in complex cases previous conditions are inappropriate as variation in contrast exists and it does include background noise, etc. This paper deals with object detection in infrared images for military application using an image binarization step. Military targets are detected in different conditions such as winter condition, summer condition, at night etc. This paper focuses on combination of two methods of image binarization. One is the global binarization method proposed by Otsu and the other one is the local adaptive threshold technique. The global binarization method is usually faster than the local adaptive method and the global method will give good results for specific weather conditions such as object detection in winter condition. In these cases, acquired images have uniform contrast distribution of foreground and background and little variation in illumination. We are looking for an effective method for object detection in infrared images in challenging conditions such as summer conditions or in an urban environment, where there is a shortage of objects of interest. In these cases, we employed local mean techniques and local variance techniques. The experiment results are presented so that we can better choose which method should be employed or what combination of these previous techniques to employ. In order to minimise computational time of local thresholding technique, we employed a combination of two previous techniques. The algorithm was tested in a Matlab environment and the tested pictures were acquired by RayCam C.A. 1884 and thermoIMAGER 160 cameras.
{"title":"Using thresholding techniques for object detection in infrared images","authors":"Pham Ich Quy, M. Polasek","doi":"10.1109/MECHATRONIKA.2014.7018315","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018315","url":null,"abstract":"Image processing techniques play an important role in military applications. Image binarization could be understood as a process of pixel values segmentation of grayscale image into two value groups, zero as a background and 1 as a foreground. In simple humor application of object detection we assume that contrast distribution of foreground is uniformed and without background noise or that variation in contrast does not exist. However, in complex cases previous conditions are inappropriate as variation in contrast exists and it does include background noise, etc. This paper deals with object detection in infrared images for military application using an image binarization step. Military targets are detected in different conditions such as winter condition, summer condition, at night etc. This paper focuses on combination of two methods of image binarization. One is the global binarization method proposed by Otsu and the other one is the local adaptive threshold technique. The global binarization method is usually faster than the local adaptive method and the global method will give good results for specific weather conditions such as object detection in winter condition. In these cases, acquired images have uniform contrast distribution of foreground and background and little variation in illumination. We are looking for an effective method for object detection in infrared images in challenging conditions such as summer conditions or in an urban environment, where there is a shortage of objects of interest. In these cases, we employed local mean techniques and local variance techniques. The experiment results are presented so that we can better choose which method should be employed or what combination of these previous techniques to employ. In order to minimise computational time of local thresholding technique, we employed a combination of two previous techniques. The algorithm was tested in a Matlab environment and the tested pictures were acquired by RayCam C.A. 1884 and thermoIMAGER 160 cameras.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"275 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122748782","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018232
K. Urbanski
The paper presents a comparison of methods of the back EMFs estimation for the permanent magnets synchronous motor in a case of position estimation at the low speed range. These methods are based on the following structures for back EMF estimation: observer for model of the electrical part of the motor, the observer for the modified correction function and estimation based on the simplified model. Obtained in this way the instantaneous values of the back EMFs, depending on the method of obtaining them, are characterized by different quality and accuracy of the estimated shaft position.
{"title":"Comparison of methods for back EMF estimation at low speed for PMSM drive","authors":"K. Urbanski","doi":"10.1109/MECHATRONIKA.2014.7018232","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018232","url":null,"abstract":"The paper presents a comparison of methods of the back EMFs estimation for the permanent magnets synchronous motor in a case of position estimation at the low speed range. These methods are based on the following structures for back EMF estimation: observer for model of the electrical part of the motor, the observer for the modified correction function and estimation based on the simplified model. Obtained in this way the instantaneous values of the back EMFs, depending on the method of obtaining them, are characterized by different quality and accuracy of the estimated shaft position.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126181370","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018243
Juraj Ďud’ák, Martin Skovajsa, Ivan Sladek
Communication systems are the fundamental building block of almost all industrial applications. In process control nowadays, the mutual communication between different parts of the system a must. System type and environmental conditions determine the communication protocol suitable for the particular purpose. Various communication protocols differ in their robustness, complexity and deployment options in the area of interest. One of the protocols that excels in its simplicity, implementation options and their univesality is the MODBUS protocol. MODBUS protocol was designed in 1979 with a focus on the control of programmable logic blocks (PLC).
{"title":"Proposal of a communication protocol for smart sensory systems","authors":"Juraj Ďud’ák, Martin Skovajsa, Ivan Sladek","doi":"10.1109/MECHATRONIKA.2014.7018243","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018243","url":null,"abstract":"Communication systems are the fundamental building block of almost all industrial applications. In process control nowadays, the mutual communication between different parts of the system a must. System type and environmental conditions determine the communication protocol suitable for the particular purpose. Various communication protocols differ in their robustness, complexity and deployment options in the area of interest. One of the protocols that excels in its simplicity, implementation options and their univesality is the MODBUS protocol. MODBUS protocol was designed in 1979 with a focus on the control of programmable logic blocks (PLC).","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126545167","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018248
J. Knobloch, D. Cervinka, P. Procházka, J. Kadlec, R. Cipín, I. Pazdera
The paper describes design and realization of the universal test bench intended for testing of electric traction machines for electric pallet truck and forklifts. The extreme parameters (Output current up to 500A and max. output voltage up to 600V) are desired for possibility to test prototypes of the motors with wide range of voltages and currents. Another unconventional parameter of this test bench is availability to connect wide range of speed and positions sensors commonly used in motor applications (resolvers, sin/cos encoders, incremental encoders or others sensors with various digital interfaces). The paper describes design of power part of the test bench as well as its control and measurement structure with sensor data processing circuits. Significant part of the article is the example of use “reconfigurable topology amplifier” tool for adaptation of current sensor signal to analog-digital converter.
{"title":"Universal test bench for AC traction motors 600V/500A","authors":"J. Knobloch, D. Cervinka, P. Procházka, J. Kadlec, R. Cipín, I. Pazdera","doi":"10.1109/MECHATRONIKA.2014.7018248","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018248","url":null,"abstract":"The paper describes design and realization of the universal test bench intended for testing of electric traction machines for electric pallet truck and forklifts. The extreme parameters (Output current up to 500A and max. output voltage up to 600V) are desired for possibility to test prototypes of the motors with wide range of voltages and currents. Another unconventional parameter of this test bench is availability to connect wide range of speed and positions sensors commonly used in motor applications (resolvers, sin/cos encoders, incremental encoders or others sensors with various digital interfaces). The paper describes design of power part of the test bench as well as its control and measurement structure with sensor data processing circuits. Significant part of the article is the example of use “reconfigurable topology amplifier” tool for adaptation of current sensor signal to analog-digital converter.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"291 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129721939","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018352
R. Vlach
This paper describes a novel approach to thermoelectric generator modeling as complex energy harvesting system. The thermoelectric generator model includes three main effects that are Thomson effect, Seebeck effect and Joule heat. The influence of heat sources and heat sinks as well as the load resistance that significantly affect properties of thermoelectric generator is also considered. The SimScape tool that extends Matlab/Simulink is used as tool for physical modeling of thermoelectric generator. Therefore, the energy harvesting model using thermoelectric generator can be easy extended by other device for example DC/DC converter. The energy harvesting model that uses thermoelectric generator (TEG) for the conversion of thermal to electric energy and DC/DC converter is presented in this paper.
{"title":"Novel approach to thermoelectric generator modeling as energy harvesting system","authors":"R. Vlach","doi":"10.1109/MECHATRONIKA.2014.7018352","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018352","url":null,"abstract":"This paper describes a novel approach to thermoelectric generator modeling as complex energy harvesting system. The thermoelectric generator model includes three main effects that are Thomson effect, Seebeck effect and Joule heat. The influence of heat sources and heat sinks as well as the load resistance that significantly affect properties of thermoelectric generator is also considered. The SimScape tool that extends Matlab/Simulink is used as tool for physical modeling of thermoelectric generator. Therefore, the energy harvesting model using thermoelectric generator can be easy extended by other device for example DC/DC converter. The energy harvesting model that uses thermoelectric generator (TEG) for the conversion of thermal to electric energy and DC/DC converter is presented in this paper.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122928483","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018278
T. Gordon, Yangyan Gao
Modern active safety systems on road vehicles are capable of sophisticated motion control, e.g. for emergency braking, collision avoidance etc. - assisting or potentially overriding the driver to make speed and/or path corrections. The availability of multiple actuators - especially individual wheel braking, active front steering - enables an agile response from the vehicle, even compared to that of the most skilled human driver. For collision avoidance, a typical control approach is to: (a) define a reference geometric path that avoids collision; (b) apply low level control to perform path following. However there are a number of limitations in this approach, addressed in the current paper. First, it is typically unknown whether the reference path is feasible or over-conservative. Secondly, the control scheme is not well suited to avoiding a moving object, e.g. another vehicle. Further, any incorrect choice of reference path may degrade performance, fast adaptation to friction change is not easy to implement and the associated low-level control allocation may be computationally intensive. In this paper we make use of a particle model for initial path planning and guidance, coupled with a simplified optimal controller, used for control integration and low-level actuation. The particle trajectory is only used as a starting point for control integration; the trajectory is not required to be followed. Instead, motion is maximized in a preferred direction away from possible collision, so the particle trajectory is used for prioritization rather than strict guidance. The aim of the present paper is to show the general feasibility of a simple control algorithm based on a linear Hamiltonian function.
{"title":"A flexible hierarchical control method for optimal collision avoidance","authors":"T. Gordon, Yangyan Gao","doi":"10.1109/MECHATRONIKA.2014.7018278","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018278","url":null,"abstract":"Modern active safety systems on road vehicles are capable of sophisticated motion control, e.g. for emergency braking, collision avoidance etc. - assisting or potentially overriding the driver to make speed and/or path corrections. The availability of multiple actuators - especially individual wheel braking, active front steering - enables an agile response from the vehicle, even compared to that of the most skilled human driver. For collision avoidance, a typical control approach is to: (a) define a reference geometric path that avoids collision; (b) apply low level control to perform path following. However there are a number of limitations in this approach, addressed in the current paper. First, it is typically unknown whether the reference path is feasible or over-conservative. Secondly, the control scheme is not well suited to avoiding a moving object, e.g. another vehicle. Further, any incorrect choice of reference path may degrade performance, fast adaptation to friction change is not easy to implement and the associated low-level control allocation may be computationally intensive. In this paper we make use of a particle model for initial path planning and guidance, coupled with a simplified optimal controller, used for control integration and low-level actuation. The particle trajectory is only used as a starting point for control integration; the trajectory is not required to be followed. Instead, motion is maximized in a preferred direction away from possible collision, so the particle trajectory is used for prioritization rather than strict guidance. The aim of the present paper is to show the general feasibility of a simple control algorithm based on a linear Hamiltonian function.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116308058","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 : 2014-12-01DOI: 10.1109/MECHATRONIKA.2014.7018343
S. Karakaya, G. Kucukyildiz, C. Toprak, H. Ocak
In this paper, a differential drive mobile robot platform was developed in order to perform indoor mobile robot researches. The mobile robot was localized and remote controlled. The remote control consists of a pair of 2.4 GHz transceivers. Localization system was developed by using infra-red reflectors, infra-red leds and camera system. Real time localization system was run on an industrial computer placed on the mobile robot. The localization data of the mobile robot is transmitted by a UDP communication program. The transmitted localization information can be received any computer or any other UDP device. In addition, a LIDAR (Light Detection and Ranging; or Laser Imaging Detection and Ranging) and a Kinect three-dimensional depth sensor were adapted on the mobile robot platform. LIDAR was used for obstacle and heading direction detection operations and Kinect for eliminating depth data of close environment. In this study, a mobile robot platform which has specialties as mentioned was developed and a human tracking application was realized real time in MATLAB and C# environment.
{"title":"Development of a human tracking indoor mobile robot platform","authors":"S. Karakaya, G. Kucukyildiz, C. Toprak, H. Ocak","doi":"10.1109/MECHATRONIKA.2014.7018343","DOIUrl":"https://doi.org/10.1109/MECHATRONIKA.2014.7018343","url":null,"abstract":"In this paper, a differential drive mobile robot platform was developed in order to perform indoor mobile robot researches. The mobile robot was localized and remote controlled. The remote control consists of a pair of 2.4 GHz transceivers. Localization system was developed by using infra-red reflectors, infra-red leds and camera system. Real time localization system was run on an industrial computer placed on the mobile robot. The localization data of the mobile robot is transmitted by a UDP communication program. The transmitted localization information can be received any computer or any other UDP device. In addition, a LIDAR (Light Detection and Ranging; or Laser Imaging Detection and Ranging) and a Kinect three-dimensional depth sensor were adapted on the mobile robot platform. LIDAR was used for obstacle and heading direction detection operations and Kinect for eliminating depth data of close environment. In this study, a mobile robot platform which has specialties as mentioned was developed and a human tracking application was realized real time in MATLAB and C# environment.","PeriodicalId":430829,"journal":{"name":"Proceedings of the 16th International Conference on Mechatronics - Mechatronika 2014","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127060817","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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