Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356638
A. Jamshidnejad, M. Mahjoob
The problem of traffic congestion in both motorways and urban areas is getting worse every day. Therefore some new solutions must be found which are potentially able to change the traffic situation efficiently. Fuzzy control approach is a rule-based methodology for controlling systems with complicated behavior. The approach, however, has proved to work well with problems such as the one we face here. Studying traffic data during different time intervals and clustering them into similar groups and finally extracting the traffic patterns in the form of some fuzzy sets are necessary for this study. The current study uses an agent-based modeling of an urban traffic network in order to gather data and construct the corresponding matrices. Then a two-stage clustering algorithm based on a fuzzy graph approach is implemented and the mobility patterns are extracted finally in order to provide the needs for a fuzzy control system to be applied. The results show a promising sight of the alterations made for the methodology used for clustering.
{"title":"Urban traffic fuzzy prototypes using a graph-based two-stage clustering algorithm","authors":"A. Jamshidnejad, M. Mahjoob","doi":"10.1109/ICCIAUTOM.2011.6356638","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356638","url":null,"abstract":"The problem of traffic congestion in both motorways and urban areas is getting worse every day. Therefore some new solutions must be found which are potentially able to change the traffic situation efficiently. Fuzzy control approach is a rule-based methodology for controlling systems with complicated behavior. The approach, however, has proved to work well with problems such as the one we face here. Studying traffic data during different time intervals and clustering them into similar groups and finally extracting the traffic patterns in the form of some fuzzy sets are necessary for this study. The current study uses an agent-based modeling of an urban traffic network in order to gather data and construct the corresponding matrices. Then a two-stage clustering algorithm based on a fuzzy graph approach is implemented and the mobility patterns are extracted finally in order to provide the needs for a fuzzy control system to be applied. The results show a promising sight of the alterations made for the methodology used for clustering.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134457295","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 : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356702
M. Abad, S. Mashhadi
In this paper a dryer is designed and implemented which is used in industry, agriculture, etc. The weight variable is a useful and important parameter for detecting product moisture. This dryer solves the lack of information about the dried problem that it is the major problem of other dryers. Therefore the intelligent dryer control system has three input variables (temperature, humidity and weight) and two outputs variables (heater and fan voltage). The dynamic model of the product (wet clothes, etc.) is unknown and nonlinear. Therefore a controller is designed and implemented based on fuzzy logic. The 660W heater increases the temperature and the fan discharges the moisturized air. System control works by ATMEGA micro-controller. After putting the product inside the dryer, the initial weight is measured and the heater is turned on. With heat production, the humidity of the product diminishes. This humidity is vented with the fan and the drying process is continued until the product is completely dried. Several tests are performed in the implemented system and system performance is evaluated carefully.
{"title":"Design and implementation for temp-weight and humidity control of dryer based on fuzzy logic","authors":"M. Abad, S. Mashhadi","doi":"10.1109/ICCIAUTOM.2011.6356702","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356702","url":null,"abstract":"In this paper a dryer is designed and implemented which is used in industry, agriculture, etc. The weight variable is a useful and important parameter for detecting product moisture. This dryer solves the lack of information about the dried problem that it is the major problem of other dryers. Therefore the intelligent dryer control system has three input variables (temperature, humidity and weight) and two outputs variables (heater and fan voltage). The dynamic model of the product (wet clothes, etc.) is unknown and nonlinear. Therefore a controller is designed and implemented based on fuzzy logic. The 660W heater increases the temperature and the fan discharges the moisturized air. System control works by ATMEGA micro-controller. After putting the product inside the dryer, the initial weight is measured and the heater is turned on. With heat production, the humidity of the product diminishes. This humidity is vented with the fan and the drying process is continued until the product is completely dried. Several tests are performed in the implemented system and system performance is evaluated carefully.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122498360","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 : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356626
B. Shahbazi, M. Vadiati
Monitoring the operating condition of electric utility assets is a critical step in achieving smart grid asset management strategy. Amongst, power transformer is a key component of a successful transition to a smart grid. However, preparing these important assets for smart grid is to some how sophisticated and requires providing condition monitoring by integration of online and off line data as well as extraction of useful information for comprehensive diagnostics, performance assessment, lifetime estimation, maintenance optimization. To cover this matter, in this paper an online monitoring system implemented by Niroo research institute(NRI) of Iran is presented. Furthermore, some important issues in applying transformer condition monitoring for smart grid are discussed.
{"title":"Transformer condition monitoring system for smart grid","authors":"B. Shahbazi, M. Vadiati","doi":"10.1109/ICCIAUTOM.2011.6356626","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356626","url":null,"abstract":"Monitoring the operating condition of electric utility assets is a critical step in achieving smart grid asset management strategy. Amongst, power transformer is a key component of a successful transition to a smart grid. However, preparing these important assets for smart grid is to some how sophisticated and requires providing condition monitoring by integration of online and off line data as well as extraction of useful information for comprehensive diagnostics, performance assessment, lifetime estimation, maintenance optimization. To cover this matter, in this paper an online monitoring system implemented by Niroo research institute(NRI) of Iran is presented. Furthermore, some important issues in applying transformer condition monitoring for smart grid are discussed.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122810211","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 : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356726
S. H. Moosapour, M. Bagherzadeh, G. Alizadeh, S. Ghaemi
A Backstepping guidance (BSG) law with saturating actuator is proposed for nonlinear kinematics of missile-target motion in the three-dimensional (3D) spherical coordinates system. The most important characteristic of Backstepping control (BSC) is high robustness. The proposed guidance law can reduce interception time and increase robustness in comparison with other guidance laws. In the proposed guidance outline, a Backstepping guidance law is designed to eliminate the effect of external perturbation. Then, it is illustrated that derived guidance law stabilize system. Some scenarios are considered for the engagement and simulated. Simulation results confirm above pretensions.
{"title":"Backstepping guidance law design for missile against maneuvering targets","authors":"S. H. Moosapour, M. Bagherzadeh, G. Alizadeh, S. Ghaemi","doi":"10.1109/ICCIAUTOM.2011.6356726","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356726","url":null,"abstract":"A Backstepping guidance (BSG) law with saturating actuator is proposed for nonlinear kinematics of missile-target motion in the three-dimensional (3D) spherical coordinates system. The most important characteristic of Backstepping control (BSC) is high robustness. The proposed guidance law can reduce interception time and increase robustness in comparison with other guidance laws. In the proposed guidance outline, a Backstepping guidance law is designed to eliminate the effect of external perturbation. Then, it is illustrated that derived guidance law stabilize system. Some scenarios are considered for the engagement and simulated. Simulation results confirm above pretensions.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"10882 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122899244","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 : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356798
S. Moafimadani, B. Sabouri, B. Fallahi, H. Taghirad
In teleoperation system employment of wave variables are proposed to encounter the time delay issues. Although, this method guarantees the passivity of the communication channel in presence of constant time delays, the tracking performance is defected due to distortion terms induced through these variables. In this paper an improved wave based method is proposed to omit the distortion terms and provide superior tracking performance compared to that of conventional wave variable method. In order to implement this approach an experimental setup is prepared which consists of a virtual slave robot, a Phantom Omni haptic device as master robot and TCP/IP communication channel. Implementation details and experimental results are presented to demonstrate the effectiveness of the proposed method. The experimental results verify the passivity of the overall system for different constant time delays, and the performance of the teleoperating system is illustrated by perfect velocity tracking in all degrees of freedom.
{"title":"Implementation of wave-based teleoperation system by improved trajectory tracking method","authors":"S. Moafimadani, B. Sabouri, B. Fallahi, H. Taghirad","doi":"10.1109/ICCIAUTOM.2011.6356798","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356798","url":null,"abstract":"In teleoperation system employment of wave variables are proposed to encounter the time delay issues. Although, this method guarantees the passivity of the communication channel in presence of constant time delays, the tracking performance is defected due to distortion terms induced through these variables. In this paper an improved wave based method is proposed to omit the distortion terms and provide superior tracking performance compared to that of conventional wave variable method. In order to implement this approach an experimental setup is prepared which consists of a virtual slave robot, a Phantom Omni haptic device as master robot and TCP/IP communication channel. Implementation details and experimental results are presented to demonstrate the effectiveness of the proposed method. The experimental results verify the passivity of the overall system for different constant time delays, and the performance of the teleoperating system is illustrated by perfect velocity tracking in all degrees of freedom.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125332029","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 : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356742
A. A. Farahani, A. Suratgar, A. Talebi
This paper presents an optimal control method based on control effort minimization for a legless piezo capsubot. The capsubot is an underactuated nonlinear dynamics system which is driven by an internal impact force and friction. Here, motion mechanism of the capsubot is divided into two stages. In the first stage, the aim is to design an optimal controller minimizing energy consumption. In the second one, optimization is not an objective and instead a four-step strategy for inner mass of the capsubot is proposed. Then based on the proposed motion strategy, a trajectory profile is given. Using this trajectory profile, the capsubot moves in a desired direction. To evaluate the performance of the proposed control scheme, a comparative study has been performed by means of simulation. Simulation results show that the proposed approach is promising as compared to the Open-Loop Control (OLC) approach which widely used in the literature for control of the capsubot.
{"title":"Optimal control of legless piezo capsubot","authors":"A. A. Farahani, A. Suratgar, A. Talebi","doi":"10.1109/ICCIAUTOM.2011.6356742","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356742","url":null,"abstract":"This paper presents an optimal control method based on control effort minimization for a legless piezo capsubot. The capsubot is an underactuated nonlinear dynamics system which is driven by an internal impact force and friction. Here, motion mechanism of the capsubot is divided into two stages. In the first stage, the aim is to design an optimal controller minimizing energy consumption. In the second one, optimization is not an objective and instead a four-step strategy for inner mass of the capsubot is proposed. Then based on the proposed motion strategy, a trajectory profile is given. Using this trajectory profile, the capsubot moves in a desired direction. To evaluate the performance of the proposed control scheme, a comparative study has been performed by means of simulation. Simulation results show that the proposed approach is promising as compared to the Open-Loop Control (OLC) approach which widely used in the literature for control of the capsubot.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126850881","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 : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356699
M. Mostafavizadeh, F. Eslam, M. Zekri
As most of elderly encounter osteoporosis, falling can cause serious fractures in them. Kinetic signals contain useful information about the balance impairment of human during walking, however these details cannot be directly recognized by the observer The aim of this paper is to investigate artificial neural network model for classifying the kinetic pattern in to two groups: faller and non-faller. The kinetic parameters obtained by a six-channel force plate for 3 groups of volunteer as healthy young, healthy elderly and faller elderly. Data space is then normalized and rearranged as input data matrixes for a 3-layer feed forward neural network to classify the patterns. Neural network classifier is seen to be corrected in about 85% of the test cases.
{"title":"Artificial neural network classifier based on kinetic parameters of human motion","authors":"M. Mostafavizadeh, F. Eslam, M. Zekri","doi":"10.1109/ICCIAUTOM.2011.6356699","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356699","url":null,"abstract":"As most of elderly encounter osteoporosis, falling can cause serious fractures in them. Kinetic signals contain useful information about the balance impairment of human during walking, however these details cannot be directly recognized by the observer The aim of this paper is to investigate artificial neural network model for classifying the kinetic pattern in to two groups: faller and non-faller. The kinetic parameters obtained by a six-channel force plate for 3 groups of volunteer as healthy young, healthy elderly and faller elderly. Data space is then normalized and rearranged as input data matrixes for a 3-layer feed forward neural network to classify the patterns. Neural network classifier is seen to be corrected in about 85% of the test cases.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"11 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126102143","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 : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356783
M. Ahmadipour, A. Khayatian, M. Dehghani
In this paper, backstepping strategy is used to design an adaptive tracking controller for rigid-link electrically driven robots in the presence of uncertainties in kinematics, manipulator dynamics and actuator dynamics. First, the armature current vector is regarded as the control variable for the manipulator subsystem and a desired armature current is designed based on the inverse manipulator dynamics. Then, an input control voltage is designed so that armature current tracks the desired armature current. Simulation results of applying the proposed controller on a two link RLED robot are presented to show the effectiveness of the proposed control scheme.
{"title":"Adaptive backstepping control of rigid-link electrically driven robots with uncertain kinematics and dynamics","authors":"M. Ahmadipour, A. Khayatian, M. Dehghani","doi":"10.1109/ICCIAUTOM.2011.6356783","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356783","url":null,"abstract":"In this paper, backstepping strategy is used to design an adaptive tracking controller for rigid-link electrically driven robots in the presence of uncertainties in kinematics, manipulator dynamics and actuator dynamics. First, the armature current vector is regarded as the control variable for the manipulator subsystem and a desired armature current is designed based on the inverse manipulator dynamics. Then, an input control voltage is designed so that armature current tracks the desired armature current. Simulation results of applying the proposed controller on a two link RLED robot are presented to show the effectiveness of the proposed control scheme.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126210996","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 : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356698
Adeleh Mohammadi, M. Menhaj, A. Doustmohammadi
In this paper, the problem of formation control for a group of nonholonomic mobile robots is presented. Obstacle avoidance is also included in the problem formulation using virtual force method. An objective function is minimized to develop a distributed constrained model predictive control law for a formation of unicycle mobile robots. In the leader-follower formation under consideration, a desired trajectory is given to the leader. The followers keep a specified distance and orientation while following the leader to keep a certain formation. All the agents in the formation avoid obstacles by producing a local virtual force with respect to their distance from the obstacle. Simulations for nonholonomic mobile robots formation with obstacle avoidance are performed to test the effectiveness of the proposed distributed predictive control.
{"title":"Distributed model predictive control and virtual force obstacle avoidance for formation of nonholonomic agents","authors":"Adeleh Mohammadi, M. Menhaj, A. Doustmohammadi","doi":"10.1109/ICCIAUTOM.2011.6356698","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356698","url":null,"abstract":"In this paper, the problem of formation control for a group of nonholonomic mobile robots is presented. Obstacle avoidance is also included in the problem formulation using virtual force method. An objective function is minimized to develop a distributed constrained model predictive control law for a formation of unicycle mobile robots. In the leader-follower formation under consideration, a desired trajectory is given to the leader. The followers keep a specified distance and orientation while following the leader to keep a certain formation. All the agents in the formation avoid obstacles by producing a local virtual force with respect to their distance from the obstacle. Simulations for nonholonomic mobile robots formation with obstacle avoidance are performed to test the effectiveness of the proposed distributed predictive control.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121619232","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 : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356664
A. Ahmad, A. Abbawi
An adjustable speed single phase induction motors are widely used in domestic applications and industries. It is difficult to get such a single phase induction motor practically. The present work deals with the analysis and design of a speed control for a single phase induction motor. There are several methods which may be used to control the speed such a motor: voltage control, frequency control and a voltage to frequency control, which is widely used in this application. Most of the previous methods are suffering from certain problems, e.g narrow speed range, starting problems, the low efficiency of the motor. Here a novel method is suggested to use for controller design. the suggested method computed the best values for the frequency and the voltage for any desired reference speed. The simulated open-loop system as well as the closed-loop one are analyzed and the result show that the actual speed is tracking the desired speed and the deference between the reference speed and actual is acceptable (less than 2%).
{"title":"Single phase induction motor speed control using frog-jumping algorithm technique","authors":"A. Ahmad, A. Abbawi","doi":"10.1109/ICCIAUTOM.2011.6356664","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356664","url":null,"abstract":"An adjustable speed single phase induction motors are widely used in domestic applications and industries. It is difficult to get such a single phase induction motor practically. The present work deals with the analysis and design of a speed control for a single phase induction motor. There are several methods which may be used to control the speed such a motor: voltage control, frequency control and a voltage to frequency control, which is widely used in this application. Most of the previous methods are suffering from certain problems, e.g narrow speed range, starting problems, the low efficiency of the motor. Here a novel method is suggested to use for controller design. the suggested method computed the best values for the frequency and the voltage for any desired reference speed. The simulated open-loop system as well as the closed-loop one are analyzed and the result show that the actual speed is tracking the desired speed and the deference between the reference speed and actual is acceptable (less than 2%).","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125232431","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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