Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739715
Ao Fu, Chenglong Fu, Kun Wang, Dan-Yong Zhao, Xuechao Chen, Ken Chen
This paper presents an electrical powered transfemoral prosthesis. The knee joint is actuated by a motor-driven ball screw assembly and the ankle joint is motioned by a series elastic actuator. An undirectional spring is attached paralleled with the SEA to store energy during dorsiflexion and bias load of ankle torque. To mimic biomechanical gait data and make the prosthesis compact and anthropomorphic, some key parameters are calculated to achieve optimal solution. These parameters include the length of crank rocker of knee and ankle joint, the stiffness of series and parallel spring and the dimension of the series leaf spring. The analysis procedure is demonstrated in this paper.
{"title":"The key parameter selection in design of an active electrical transfemoral prosthesis","authors":"Ao Fu, Chenglong Fu, Kun Wang, Dan-Yong Zhao, Xuechao Chen, Ken Chen","doi":"10.1109/ROBIO.2013.6739715","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739715","url":null,"abstract":"This paper presents an electrical powered transfemoral prosthesis. The knee joint is actuated by a motor-driven ball screw assembly and the ankle joint is motioned by a series elastic actuator. An undirectional spring is attached paralleled with the SEA to store energy during dorsiflexion and bias load of ankle torque. To mimic biomechanical gait data and make the prosthesis compact and anthropomorphic, some key parameters are calculated to achieve optimal solution. These parameters include the length of crank rocker of knee and ankle joint, the stiffness of series and parallel spring and the dimension of the series leaf spring. The analysis procedure is demonstrated in this paper.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114157761","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.2013.6739468
Ronghao Zheng, Dong Sun
In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.
{"title":"Rendezvous of wheeled mobile robots using bearings-only or range-only measurements","authors":"Ronghao Zheng, Dong Sun","doi":"10.1109/ROBIO.2013.6739468","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739468","url":null,"abstract":"In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129708811","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.2013.6739874
Linlin Zhu, Weiran Cao, Jianda Han, Yingkui Du
Automatic power line recognition from cluttered background is an important and challenging task for a vision based unmanned aerial vehicles (UAVs) power line inspection system. In this paper, we propose a power line recognition method based on liner object enhancement and parallel lines constraint. A new double-side filter is proposed to enhance the power lines, and then the radon transform is used to find the parallel lines as the power line recognition results. Our experiments on real image data captured from UAV demonstrate our method is effective for automatic power line recognition.
{"title":"A double-side filter based power line recognition method for UAV vision system","authors":"Linlin Zhu, Weiran Cao, Jianda Han, Yingkui Du","doi":"10.1109/ROBIO.2013.6739874","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739874","url":null,"abstract":"Automatic power line recognition from cluttered background is an important and challenging task for a vision based unmanned aerial vehicles (UAVs) power line inspection system. In this paper, we propose a power line recognition method based on liner object enhancement and parallel lines constraint. A new double-side filter is proposed to enhance the power lines, and then the radon transform is used to find the parallel lines as the power line recognition results. Our experiments on real image data captured from UAV demonstrate our method is effective for automatic power line recognition.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128364537","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.2013.6739873
Zheng Chen, Yaodong Pan, J. Gu
Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. However, to really realize teleoperation requirements, there still exist some challenging control issues: a) the communication delay between master and slave manipulators may lead to system instability or performance decreasing; b) in some applications, the sensors are not easily set up to measure the environmental external force; c) various manipulator modeling uncertainties need to be considered carefully in order to achieve good control performance. In this paper, the disturbance observer is designed based on the slave manipulator dynamics to observe the unmeasurable environmental force. When the environmental force is modeled as a general linear regression form, its unknown parameters can be estimated online by the least square adaptation law. A novel communication structure is proposed where only the master trajectory is transmitted to the slave side, and the transmission signal from the slave to the master is replaced by those estimated environmental parameters. This design can avoid solving the complicated passivity problem under communication delays and having the trade-off between the system stability and control performance, and thus has the potential of achieving the excellent control performance and the guaranteed robust stability simultaneously under arbitrary time delays. The sliding mode control and the force compensation of disturbance observer are integrated subsequently to deal with various manipulator modeling uncertainties, so that the excellent synchronization performance can be achieved. The simulation on single DOF manipulators is carried out and the results show the effectiveness of the proposed control algorithm.
{"title":"Disturbance observer based adaptive robust control of bilateral teleoperation systems under time delays","authors":"Zheng Chen, Yaodong Pan, J. Gu","doi":"10.1109/ROBIO.2013.6739873","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739873","url":null,"abstract":"Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. However, to really realize teleoperation requirements, there still exist some challenging control issues: a) the communication delay between master and slave manipulators may lead to system instability or performance decreasing; b) in some applications, the sensors are not easily set up to measure the environmental external force; c) various manipulator modeling uncertainties need to be considered carefully in order to achieve good control performance. In this paper, the disturbance observer is designed based on the slave manipulator dynamics to observe the unmeasurable environmental force. When the environmental force is modeled as a general linear regression form, its unknown parameters can be estimated online by the least square adaptation law. A novel communication structure is proposed where only the master trajectory is transmitted to the slave side, and the transmission signal from the slave to the master is replaced by those estimated environmental parameters. This design can avoid solving the complicated passivity problem under communication delays and having the trade-off between the system stability and control performance, and thus has the potential of achieving the excellent control performance and the guaranteed robust stability simultaneously under arbitrary time delays. The sliding mode control and the force compensation of disturbance observer are integrated subsequently to deal with various manipulator modeling uncertainties, so that the excellent synchronization performance can be achieved. The simulation on single DOF manipulators is carried out and the results show the effectiveness of the proposed control algorithm.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128959900","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.2013.6739549
Ruining Huang, Zhipeng Huang, Y. Lou
This paper presents a new type of intelligent ultrasonic power supply based on DSP and DDS, and then designed a debridement transducer. The ultrasonic power supply consist of TMS320F2812, DDS waveform generating circuit, Full-bridge inverter circuit, signal processing circuit and so on. In order to achieve frequency automatic tracking with the characteristics of high precision and fast speed, it adopted the control strategy of Integra separation PI algorithm and variable step size. Ultrasonic transducer is mainly composed of quarter wave oscillator and second order of the amplitude. Experiments show that both of the hardware and the software achieved the expect function, the ultrasonic power can achieve high precision frequency automatic tracking. Consequence, the results proved the designed method was feasible.
{"title":"Research on the key techniques of ultrasonic debridement instrument","authors":"Ruining Huang, Zhipeng Huang, Y. Lou","doi":"10.1109/ROBIO.2013.6739549","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739549","url":null,"abstract":"This paper presents a new type of intelligent ultrasonic power supply based on DSP and DDS, and then designed a debridement transducer. The ultrasonic power supply consist of TMS320F2812, DDS waveform generating circuit, Full-bridge inverter circuit, signal processing circuit and so on. In order to achieve frequency automatic tracking with the characteristics of high precision and fast speed, it adopted the control strategy of Integra separation PI algorithm and variable step size. Ultrasonic transducer is mainly composed of quarter wave oscillator and second order of the amplitude. Experiments show that both of the hardware and the software achieved the expect function, the ultrasonic power can achieve high precision frequency automatic tracking. Consequence, the results proved the designed method was feasible.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124559154","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.2013.6739619
Zhenyu Li, Hong Liu, Bin Wang
A key technology of space robots is to maintain the satellite attitude while space service is proceeding. This paper discusses the motion planning and control methods for both robot satellite attitude and robotic end-effector actions in the form of collaboration. A single gimbal control moment gyro (SGCMG) system is adopted to maintain the satellite attitude because of higher output torque than traditional reaction flywheels. From the viewpoint of disturbance momentum calculations, the EGJM matrix is proposed and the motions are controlled without the complex dynamics calculations of disturbance torque which causes larger computation and less efficiency. At last an optimal end-effector path is designed to minimize the disturbance momentum which should be compensated by SGCMGs. The performance of designed strategies is tested in a hardware-in-the-loop simulation environment which involves the space robot dynamics.
{"title":"Motion planning and coordination control of space robot using methods of calculated momentum","authors":"Zhenyu Li, Hong Liu, Bin Wang","doi":"10.1109/ROBIO.2013.6739619","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739619","url":null,"abstract":"A key technology of space robots is to maintain the satellite attitude while space service is proceeding. This paper discusses the motion planning and control methods for both robot satellite attitude and robotic end-effector actions in the form of collaboration. A single gimbal control moment gyro (SGCMG) system is adopted to maintain the satellite attitude because of higher output torque than traditional reaction flywheels. From the viewpoint of disturbance momentum calculations, the EGJM matrix is proposed and the motions are controlled without the complex dynamics calculations of disturbance torque which causes larger computation and less efficiency. At last an optimal end-effector path is designed to minimize the disturbance momentum which should be compensated by SGCMGs. The performance of designed strategies is tested in a hardware-in-the-loop simulation environment which involves the space robot dynamics.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129437267","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.2013.6739755
Xilong Liu, Zhiqiang Cao, J. Jiao, Kun Ai, M. Tan
A general vision approach for environment understanding of mobile robot is proposed, which is inspired by biological visual cortex. Gray level image from robot camera is firstly processed in the selective attention layer, and then in S and C layers for meaningful structure elements. With the help of the Sc layer designed for endpoints detection, the line segments map is generated to serve as the form of environment understanding results. Experiments on mobile robot are implemented by the task of avoiding obstacles with different sizes and shapes, pits, sharp cliffs, et al. The experimental results demonstrate the adaptability and versatility of the proposed approach.
{"title":"A general robot environment understanding approach inspired by biological visual cortex","authors":"Xilong Liu, Zhiqiang Cao, J. Jiao, Kun Ai, M. Tan","doi":"10.1109/ROBIO.2013.6739755","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739755","url":null,"abstract":"A general vision approach for environment understanding of mobile robot is proposed, which is inspired by biological visual cortex. Gray level image from robot camera is firstly processed in the selective attention layer, and then in S and C layers for meaningful structure elements. With the help of the Sc layer designed for endpoints detection, the line segments map is generated to serve as the form of environment understanding results. Experiments on mobile robot are implemented by the task of avoiding obstacles with different sizes and shapes, pits, sharp cliffs, et al. The experimental results demonstrate the adaptability and versatility of the proposed approach.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124204276","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.2013.6739780
I. Iossifidis
Generation of flexible goal directed movement describes the key skill of autonomous articulated robots. Critical points are still the acknowledgement of reaching and grasping task while satisfying static and dynamically changing constraints given by the environment or caused by the human operator in a collaborative situation. This means that the motion planning dynamics has to incorporate multiple contributions of different qualities which should be formulated in constraint specific reference frames and then transformed into the frame of joint velocities. Whereby the handling of the contribution to motion planning is determined by the solution of the inverse kinematics problem. In this work a closed form solution for the inverse kinematics problem for an eight degree of freedom arm is presented. The geometrical properties of the multi redundant arm and the resulting free parameter which determine it's null space motion are utilized to satisfy constraints of the desired motion. We implement this system on an eight DoF redundant manipulator and show its feasibility in a simulation.
{"title":"Motion constraint satisfaction by means of closed form solution for redundant robot arms","authors":"I. Iossifidis","doi":"10.1109/ROBIO.2013.6739780","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739780","url":null,"abstract":"Generation of flexible goal directed movement describes the key skill of autonomous articulated robots. Critical points are still the acknowledgement of reaching and grasping task while satisfying static and dynamically changing constraints given by the environment or caused by the human operator in a collaborative situation. This means that the motion planning dynamics has to incorporate multiple contributions of different qualities which should be formulated in constraint specific reference frames and then transformed into the frame of joint velocities. Whereby the handling of the contribution to motion planning is determined by the solution of the inverse kinematics problem. In this work a closed form solution for the inverse kinematics problem for an eight degree of freedom arm is presented. The geometrical properties of the multi redundant arm and the resulting free parameter which determine it's null space motion are utilized to satisfy constraints of the desired motion. We implement this system on an eight DoF redundant manipulator and show its feasibility in a simulation.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120846460","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.2013.6739496
Bin He, Zhipeng Wang, Xiaocheng Tang, Q. Lu
This paper deals with walking balance control of biped robot inspired by biological concept of sensory integration. The control system is proposed with a trajectory generator and a walking balance controller. The inverted pendulum model is used to generate a more natural and energy efficient biped gait. The walking balance controller, which includes Kalman filter and fuzzy controller, is designed based on sensory fusion to keep the body balance and make the robot walking following the desired reference trajectory. A retrofitted biped platform Bioloid is used to validate the proposed balance control method. The experimental results confirm the effectiveness of the proposed control strategy.
{"title":"Walking balance control for biped robot based on multi-sensor integration","authors":"Bin He, Zhipeng Wang, Xiaocheng Tang, Q. Lu","doi":"10.1109/ROBIO.2013.6739496","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739496","url":null,"abstract":"This paper deals with walking balance control of biped robot inspired by biological concept of sensory integration. The control system is proposed with a trajectory generator and a walking balance controller. The inverted pendulum model is used to generate a more natural and energy efficient biped gait. The walking balance controller, which includes Kalman filter and fuzzy controller, is designed based on sensory fusion to keep the body balance and make the robot walking following the desired reference trajectory. A retrofitted biped platform Bioloid is used to validate the proposed balance control method. The experimental results confirm the effectiveness of the proposed control strategy.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121348494","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.2013.6739733
H. Q. Vu, Lorenzo G. Marcantini
In recent years, there has been an increasing interest in the development of variable stiffness actuators (VSAs) for legged robots. In this paper, we explore how VSAs can be used in legged robots to achieve energy efficient locomotion on compliant surfaces at various stride frequencies. Our legged robot is consisted of an actuated hip joint and a passive knee joint equipped with a VSA, named L-MESTRAN. This VSA is capable of varying stiffness over a large range, maintaining stiffness without consuming energy, and offering a linear joint stiffness. The compliant surface was constructed with stiffness variability. Through simulation and preliminarily experimental results, we show that adjustment of the knee stiffness in the relationship with stride frequency and surface stiffness is beneficial for increasing the energy efficiency of hopping at various stride frequencies.
{"title":"Knee stiffness adjustment for energy efficient locomotion of a legged robot on surfaces with different stiffness","authors":"H. Q. Vu, Lorenzo G. Marcantini","doi":"10.1109/ROBIO.2013.6739733","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739733","url":null,"abstract":"In recent years, there has been an increasing interest in the development of variable stiffness actuators (VSAs) for legged robots. In this paper, we explore how VSAs can be used in legged robots to achieve energy efficient locomotion on compliant surfaces at various stride frequencies. Our legged robot is consisted of an actuated hip joint and a passive knee joint equipped with a VSA, named L-MESTRAN. This VSA is capable of varying stiffness over a large range, maintaining stiffness without consuming energy, and offering a linear joint stiffness. The compliant surface was constructed with stiffness variability. Through simulation and preliminarily experimental results, we show that adjustment of the knee stiffness in the relationship with stride frequency and surface stiffness is beneficial for increasing the energy efficiency of hopping at various stride frequencies.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116269620","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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