Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739776
Shi-long Liu, Zhihong Jiang, Hui Li, Qiang Huang
The simulation of space microgravity environment is indispensable during the development of space robot since its performances should be examined and enhanced before sent into space. However, the existing methods, such as air flotation method, hanging wire method and buoyancy method, etc., are very expensive and complex. A low-cost microgravity simulating system is proposed in this paper. In this system, a horizontal adjusting mechanism is proposed to keep the robot moving in a horizontal plane; a gravity compensation mechanism is proposed to compensate the force and torque of gravity during the movement; furthermore, several flexible chains and climbing rods are designed to simulate astronauts' climbing outside space station freely, but the robot is very likely to vibrate during the movement, so a new hybrid force/position controller based on the joint servo-drive characteristics model is proposed to diminish this vibration. Experiment has been done on this system with a humanoid space robot and experimental results show that this system is very suitable for motion control study of space robot in microgravity condition and the proposed hybrid force/position controller is easy and valid.
{"title":"A low-cost microgravity simulating system for motion control study of space robot","authors":"Shi-long Liu, Zhihong Jiang, Hui Li, Qiang Huang","doi":"10.1109/ROBIO.2013.6739776","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739776","url":null,"abstract":"The simulation of space microgravity environment is indispensable during the development of space robot since its performances should be examined and enhanced before sent into space. However, the existing methods, such as air flotation method, hanging wire method and buoyancy method, etc., are very expensive and complex. A low-cost microgravity simulating system is proposed in this paper. In this system, a horizontal adjusting mechanism is proposed to keep the robot moving in a horizontal plane; a gravity compensation mechanism is proposed to compensate the force and torque of gravity during the movement; furthermore, several flexible chains and climbing rods are designed to simulate astronauts' climbing outside space station freely, but the robot is very likely to vibrate during the movement, so a new hybrid force/position controller based on the joint servo-drive characteristics model is proposed to diminish this vibration. Experiment has been done on this system with a humanoid space robot and experimental results show that this system is very suitable for motion control study of space robot in microgravity condition and the proposed hybrid force/position controller is easy and valid.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133100789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739753
Zhijiang Liu, Siyu Chen, Xinhao Luo
Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP and FASM for the judgment of the stability of walking hexapod robots, and an analytical method is applied to determine the reachable workspace of its adjusted-leg and to choose footholds to restore stability based on the principle of maximizing force arm. Taking the case of a hexapod robot's sideline tipping on a slope terrain as an example, the simulation results verify the effectiveness of the proposed method.
{"title":"Judgment and adjustment of tipping instability for hexapod robots","authors":"Zhijiang Liu, Siyu Chen, Xinhao Luo","doi":"10.1109/ROBIO.2013.6739753","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739753","url":null,"abstract":"Real-time response to tipping is essential for a hexapod robot to avoid damaging itself and load when it walks on rough terrains. In this paper, a criterion is proposed combining ZMP and FASM for the judgment of the stability of walking hexapod robots, and an analytical method is applied to determine the reachable workspace of its adjusted-leg and to choose footholds to restore stability based on the principle of maximizing force arm. Taking the case of a hexapod robot's sideline tipping on a slope terrain as an example, the simulation results verify the effectiveness of the proposed method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114185776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739677
Lisha Chen, Can Tang, Xintao Li, Sheng Cheng, Jianwei Zhang, D. Caldwell
This paper presents the development and evaluation of a pneumatically-actuated transferring robotic system that uses visual inspection technology. The objective of this research is to implement the manufacturing automation in a customized industrial forging process. The robot has 5-DOF with a 2-fingered gripper placed on the gantry mechanical structure stage. Furthermore, the robotic system consists of two digital cameras for the visual inspection, which are utilized to test the temperature and the posture of the forging ingot. The required grasping force of the gripper and the accurate position regulation are obtained by pneumatic actuators. The control of the pneumatic actuators is based upon the use of programmable logic controllers (PLC). Subsequently, the temperature and perpendicularity detection capabilities of the visual inspection system are analyzed. Finally, experiments have been carried out to evaluate the performance of the presented robotic system.
{"title":"A pneumatically-actuated transferring robot for industrial forge manufacturing using visual inspection technology","authors":"Lisha Chen, Can Tang, Xintao Li, Sheng Cheng, Jianwei Zhang, D. Caldwell","doi":"10.1109/ROBIO.2013.6739677","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739677","url":null,"abstract":"This paper presents the development and evaluation of a pneumatically-actuated transferring robotic system that uses visual inspection technology. The objective of this research is to implement the manufacturing automation in a customized industrial forging process. The robot has 5-DOF with a 2-fingered gripper placed on the gantry mechanical structure stage. Furthermore, the robotic system consists of two digital cameras for the visual inspection, which are utilized to test the temperature and the posture of the forging ingot. The required grasping force of the gripper and the accurate position regulation are obtained by pneumatic actuators. The control of the pneumatic actuators is based upon the use of programmable logic controllers (PLC). Subsequently, the temperature and perpendicularity detection capabilities of the visual inspection system are analyzed. Finally, experiments have been carried out to evaluate the performance of the presented robotic system.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115729344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739526
Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara
Though a reinforcement learning method is considered as a promising method for learning a robot's behavior from reward signals and adapting it for unknown environment, a standard reinforcement learning method is for a single environment. In this paper, to make a robot working in wider environments, we develop a reinforcement learning method for (1) estimating the current environment, (2) choosing a suitable policy for a known environment, and (3) making learning efficient when learning in a new environment by using transfer learning. To achieve them, we extend the learning strategy (LS) fusion method [1]. LS fusion is a method to learn multiple policies for a single task by applying multiple learning strategies (LSs) step by step. The key idea of environment estimation is using reward statistics of learned policies. For efficient learning, we design a learning strategy to transfer a policy learned in a different environment to one for the current environment. To verify the proposed method, we conducted some experiments where a small size humanoid robot learned a crawling task in several kinds of environments.
{"title":"Learning strategy fusion for acquiring crawling behavior in multiple environments","authors":"Akihiko Yamaguchi, J. Takamatsu, T. Ogasawara","doi":"10.1109/ROBIO.2013.6739526","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739526","url":null,"abstract":"Though a reinforcement learning method is considered as a promising method for learning a robot's behavior from reward signals and adapting it for unknown environment, a standard reinforcement learning method is for a single environment. In this paper, to make a robot working in wider environments, we develop a reinforcement learning method for (1) estimating the current environment, (2) choosing a suitable policy for a known environment, and (3) making learning efficient when learning in a new environment by using transfer learning. To achieve them, we extend the learning strategy (LS) fusion method [1]. LS fusion is a method to learn multiple policies for a single task by applying multiple learning strategies (LSs) step by step. The key idea of environment estimation is using reward statistics of learned policies. For efficient learning, we design a learning strategy to transfer a policy learned in a different environment to one for the current environment. To verify the proposed method, we conducted some experiments where a small size humanoid robot learned a crawling task in several kinds of environments.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124696844","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739471
N. Nor, Shugen Ma
This paper addresses a problem of locomotion control of a snake-like robot. The discontinuity of the input signal during transition of locomotion is not desirable which may cause a large sliding and slippage. To overcome this problem, a method that produce a smooth transition of the body shape of a snake-like robot is introduced by adopting CPG-based control. Body shape transition is important for a snake-like robot locomotion to adapt to different space widths especially for rescuing task in a hazardous environment. By changing the phase difference of the CPG outputs instantly, the phase transition will result in a sharp point or discontinuity of the input signal which will lead to a jerky movement of the snake-like robot. In this paper, we propose a novel way of producing smooth body shape transition of a snake-like robot i.e., by introducing an activation function. This method is simple and easy to be implemented for robot's control. Simulation results and torque analysis confirm the effectiveness of the proposed method.
{"title":"Body shape control of a snake-like robot based on phase oscillator network","authors":"N. Nor, Shugen Ma","doi":"10.1109/ROBIO.2013.6739471","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739471","url":null,"abstract":"This paper addresses a problem of locomotion control of a snake-like robot. The discontinuity of the input signal during transition of locomotion is not desirable which may cause a large sliding and slippage. To overcome this problem, a method that produce a smooth transition of the body shape of a snake-like robot is introduced by adopting CPG-based control. Body shape transition is important for a snake-like robot locomotion to adapt to different space widths especially for rescuing task in a hazardous environment. By changing the phase difference of the CPG outputs instantly, the phase transition will result in a sharp point or discontinuity of the input signal which will lead to a jerky movement of the snake-like robot. In this paper, we propose a novel way of producing smooth body shape transition of a snake-like robot i.e., by introducing an activation function. This method is simple and easy to be implemented for robot's control. Simulation results and torque analysis confirm the effectiveness of the proposed method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125198917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739738
Ronghuai Qi, Tin Lun Lam, Huihuan Qian, Yangsheng Xu
In this paper, a novel precise pick and place device (PPD) is proposed for robotic manipulators. It is capable of accurately picking the work pieces and placing them when they are deviated from their initial taught picking positions. In addition, a new muti-line identification algorithm is also developed, which is very effective, especially when the obtained data is limited but needs precise identification. Moreover, the design and implementation of PPD are developed, including hardware design, control algorithm, muti-line fitting approach, offsets calculation and compensation of inverse kinematics, etc. The advantages of PPD are low cost, effective algorithm with high accuracy, when compare with vision or other traditional approaches. Numerous pick and place experiments have been conducted and the results are satisfied.
{"title":"A novel precise pick and place device for robotic manipulators","authors":"Ronghuai Qi, Tin Lun Lam, Huihuan Qian, Yangsheng Xu","doi":"10.1109/ROBIO.2013.6739738","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739738","url":null,"abstract":"In this paper, a novel precise pick and place device (PPD) is proposed for robotic manipulators. It is capable of accurately picking the work pieces and placing them when they are deviated from their initial taught picking positions. In addition, a new muti-line identification algorithm is also developed, which is very effective, especially when the obtained data is limited but needs precise identification. Moreover, the design and implementation of PPD are developed, including hardware design, control algorithm, muti-line fitting approach, offsets calculation and compensation of inverse kinematics, etc. The advantages of PPD are low cost, effective algorithm with high accuracy, when compare with vision or other traditional approaches. Numerous pick and place experiments have been conducted and the results are satisfied.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134526376","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739880
Jingdi Duan, Baojie Fan, Yang Cong
In this paper, we propose online metric learning tracking method that consider visual tracking as a similarity measurement problem, and incorporates adaptive metric learning and generative histogram model based on non-sparse linear representation into the target tracking framework. We propose a generative histogram model based on non-sparse linear representation, which make full use of the non-sparse coefficients to discriminate between the target and the background. The similarity metric is adaptively learned online to maximize the margin of the distance between the foreground target and background. A bi-linear graph is defined accordingly to propagate the label of each sample. The model can also self-update using the more confident new samples. Numerous experiments on various challenging videos demonstrate that the proposed tracker performs favorably against several state-of-the-art algorithms.
{"title":"Visual target tracking via weighted non-sparse representation and online metric learning","authors":"Jingdi Duan, Baojie Fan, Yang Cong","doi":"10.1109/ROBIO.2013.6739880","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739880","url":null,"abstract":"In this paper, we propose online metric learning tracking method that consider visual tracking as a similarity measurement problem, and incorporates adaptive metric learning and generative histogram model based on non-sparse linear representation into the target tracking framework. We propose a generative histogram model based on non-sparse linear representation, which make full use of the non-sparse coefficients to discriminate between the target and the background. The similarity metric is adaptively learned online to maximize the margin of the distance between the foreground target and background. A bi-linear graph is defined accordingly to propagate the label of each sample. The model can also self-update using the more confident new samples. Numerous experiments on various challenging videos demonstrate that the proposed tracker performs favorably against several state-of-the-art algorithms.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131261983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739709
Qike Shao, Sheng Liu, Shengyong Chen
This paper presents a novel Matching Propagation Framework for addressing the problem of finding better matching pairs between each two images, which is one of the most fundamental tasks in computer vision and pattern recognition. We first select initial seed points by original matching method like SIFT, and then use T-CM to explore more seed points. Finally, a triangle constraint based quasi-dense algorithm is adopted to propagate better matches around seed points. The experimental evaluation shows that our method can get a more precise matching result than classical quasi-dense algorithm. And the 3D reconstruction of the scene from our method has a good visual effect. Both experiments demonstrate the robust performance of our method.
{"title":"Propagation for feature matching using triangular constraints","authors":"Qike Shao, Sheng Liu, Shengyong Chen","doi":"10.1109/ROBIO.2013.6739709","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739709","url":null,"abstract":"This paper presents a novel Matching Propagation Framework for addressing the problem of finding better matching pairs between each two images, which is one of the most fundamental tasks in computer vision and pattern recognition. We first select initial seed points by original matching method like SIFT, and then use T-CM to explore more seed points. Finally, a triangle constraint based quasi-dense algorithm is adopted to propagate better matches around seed points. The experimental evaluation shows that our method can get a more precise matching result than classical quasi-dense algorithm. And the 3D reconstruction of the scene from our method has a good visual effect. Both experiments demonstrate the robust performance of our method.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131456690","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}
Edge detection plays an important role in many advanced robot applications. Sometimes the boundaries of objects should be extracted. This paper proposes an edge detection algorithm that combining both color and depth data. Firstly, the Canny operator is applied to the color and depth image to extract initial edges. Then the color-edges are optimized using depth information to eliminate non-boundary edges. The depth-edges are also optimized using color information to remove the edges caused by missing regions. At last, the optimized color-edges and depth-edges are fused together forming the final edge extraction. Comparative experiments demonstrate that, even when two objects have the same color, the proposed algorithm can extract object boundaries successfully while the non-boundary edges are eliminated in the same time.
{"title":"Combining color and depth data for edge detection","authors":"Haosong Yue, Weihai Chen, Jianhua Wang, Xingming Wu","doi":"10.1109/ROBIO.2013.6739581","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739581","url":null,"abstract":"Edge detection plays an important role in many advanced robot applications. Sometimes the boundaries of objects should be extracted. This paper proposes an edge detection algorithm that combining both color and depth data. Firstly, the Canny operator is applied to the color and depth image to extract initial edges. Then the color-edges are optimized using depth information to eliminate non-boundary edges. The depth-edges are also optimized using color information to remove the edges caused by missing regions. At last, the optimized color-edges and depth-edges are fused together forming the final edge extraction. Comparative experiments demonstrate that, even when two objects have the same color, the proposed algorithm can extract object boundaries successfully while the non-boundary edges are eliminated in the same time.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132013944","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739827
Linsen Xu, Kai Cao, T. Mei, Minzhou Luo, Xianming Wei, Jianghai Zhao
The basilisk lizard's function of running on water is used to analyse the dynamical mechanism of the biped robot which has the same function. The movement trajectories of the a Watt-I six-bar linkage are brought out by combining the movement equations of the four bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and the lifting and propulsion mechanism of the biped robot running on water is carried out. The links' parameters are optimized by taking the trajectories overlap ratio as the target function. The prototype of the biped robot running on water is made by the results of the kinetic analysis on the robot. And the lifting and propulsion force curve on the robot from water is measured. The experiment results show that the lifting and propulsion system satisfy the function requirement of biped robot running on water.
{"title":"Development of the lifting and propulsion mechanism of biped robot running on water","authors":"Linsen Xu, Kai Cao, T. Mei, Minzhou Luo, Xianming Wei, Jianghai Zhao","doi":"10.1109/ROBIO.2013.6739827","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739827","url":null,"abstract":"The basilisk lizard's function of running on water is used to analyse the dynamical mechanism of the biped robot which has the same function. The movement trajectories of the a Watt-I six-bar linkage are brought out by combining the movement equations of the four bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and the lifting and propulsion mechanism of the biped robot running on water is carried out. The links' parameters are optimized by taking the trajectories overlap ratio as the target function. The prototype of the biped robot running on water is made by the results of the kinetic analysis on the robot. And the lifting and propulsion force curve on the robot from water is measured. The experiment results show that the lifting and propulsion system satisfy the function requirement of biped robot running on water.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133517862","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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