Pub Date : 2005-06-12DOI: 10.1109/ARSO.2005.1511649
K. Ichida, K. Izumi, K. Watanabe
One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method has been already proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss about the controlled system using the proposed method with parameters designed by GA.
{"title":"A switching control based fuzzy energy region method for underactuated robots","authors":"K. Ichida, K. Izumi, K. Watanabe","doi":"10.1109/ARSO.2005.1511649","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511649","url":null,"abstract":"One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method has been already proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss about the controlled system using the proposed method with parameters designed by GA.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124714480","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511657
Y. Wakuda, T. Fukuda, F. Arai, Y. Hasegawa, A. Noda, M. Kawaguchi
The purpose of this paper is to make an adaptive and intelligent human interface with wearable hardware. At first, we are trying to estimate human's state in sleep using wearable sensor device, with less physical movement than daytime. Next, we are trying to control human biological rhythm using the method to estimate human sleep state. We are considering about most simple way to control human's sleep is to control awakening timing and sleep time. Proposed system can estimate human sleep quality and rhythms, and stimuli to user at the timing easy to wake. The system uses only pulse wave to estimate sleep quality because pulse wave can be measured easier than PSG.
{"title":"Comfortable environment for human by IRT based adaptive and intelligent interface","authors":"Y. Wakuda, T. Fukuda, F. Arai, Y. Hasegawa, A. Noda, M. Kawaguchi","doi":"10.1109/ARSO.2005.1511657","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511657","url":null,"abstract":"The purpose of this paper is to make an adaptive and intelligent human interface with wearable hardware. At first, we are trying to estimate human's state in sleep using wearable sensor device, with less physical movement than daytime. Next, we are trying to control human biological rhythm using the method to estimate human sleep state. We are considering about most simple way to control human's sleep is to control awakening timing and sleep time. Proposed system can estimate human sleep quality and rhythms, and stimuli to user at the timing easy to wake. The system uses only pulse wave to estimate sleep quality because pulse wave can be measured easier than PSG.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130463556","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511648
T. Emaru, K. Tanaka, T. Tsuchiya
Today, the ultrasonic TOF (time-of-flight) ranging system is the most common sensing system employed in indoor mobile robotic systems, primarily due to the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. TOF ranging systems measure the round-trip time required for a pulse of emitted energy to travel to a reflecting object and then echo back to a receiver. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below the threshold level. We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This is implemented using a transducer with a scanning system, and has a great ability of obtaining the travelable area for a robot in environments in which the distance cannot be precisely measured. The proposed system is constructed in a simple manner so as to improve the utility value of the sonar. This paper introduces the speed control strategy under uncertainty of sensor information. By considering the uncertainty of sensor information, we change the action strategy. By changing the action strategy, sensor information which is obtained by the robot changes at the same time. By using this relationship, we construct the robust robot system. The validity of the proposed method is investigated by applying this method to an autonomous mobile robot in various environments such as one with multiple obstacles, at the end of the hall, and so on.
{"title":"Speed control of a sonar-based mobile robot determining sensing and action strategy simultaneously","authors":"T. Emaru, K. Tanaka, T. Tsuchiya","doi":"10.1109/ARSO.2005.1511648","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511648","url":null,"abstract":"Today, the ultrasonic TOF (time-of-flight) ranging system is the most common sensing system employed in indoor mobile robotic systems, primarily due to the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. TOF ranging systems measure the round-trip time required for a pulse of emitted energy to travel to a reflecting object and then echo back to a receiver. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below the threshold level. We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This is implemented using a transducer with a scanning system, and has a great ability of obtaining the travelable area for a robot in environments in which the distance cannot be precisely measured. The proposed system is constructed in a simple manner so as to improve the utility value of the sonar. This paper introduces the speed control strategy under uncertainty of sensor information. By considering the uncertainty of sensor information, we change the action strategy. By changing the action strategy, sensor information which is obtained by the robot changes at the same time. By using this relationship, we construct the robust robot system. The validity of the proposed method is investigated by applying this method to an autonomous mobile robot in various environments such as one with multiple obstacles, at the end of the hall, and so on.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126457904","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511618
T. Myers, L. Vlacic, T. Noel, M. Parent
Robot motion is a field of continuing and active research that has recorded a number of achievements in the last decade, but research appears to be becoming stagnant in key areas. Current researchers limit the success of their work by using sensors with limited features capable of operating in static environments with known static obstacles and not considering implementation on non-holonomic vehicles. These simplifications of the task of dynamic obstacle avoidance greatly reduce the possible applications of current robot motion algorithms in areas such as autonomous driving. This paper deals with algorithms for on-the-fly avoidance of dynamic obstacle by presenting a new approach, the time-varying dynamic window algorithm capable of operating at high speeds on a non-holonomic vehicle in an environment that changes over time.
{"title":"Autonomous driving in a time-varying environment","authors":"T. Myers, L. Vlacic, T. Noel, M. Parent","doi":"10.1109/ARSO.2005.1511618","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511618","url":null,"abstract":"Robot motion is a field of continuing and active research that has recorded a number of achievements in the last decade, but research appears to be becoming stagnant in key areas. Current researchers limit the success of their work by using sensors with limited features capable of operating in static environments with known static obstacles and not considering implementation on non-holonomic vehicles. These simplifications of the task of dynamic obstacle avoidance greatly reduce the possible applications of current robot motion algorithms in areas such as autonomous driving. This paper deals with algorithms for on-the-fly avoidance of dynamic obstacle by presenting a new approach, the time-varying dynamic window algorithm capable of operating at high speeds on a non-holonomic vehicle in an environment that changes over time.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121593387","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511662
P. Pirjanian
For many years, the robotics community has aimed at developing a standard control architecture for robotics. Is this a reasonable goal to pursue? In this paper we discuss this question and other related questions. We describe our philosophy for developing an architecture and describe the key elements of the evolution robotics software platform and architecture.
{"title":"Challenges for standards for consumer robotics","authors":"P. Pirjanian","doi":"10.1109/ARSO.2005.1511662","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511662","url":null,"abstract":"For many years, the robotics community has aimed at developing a standard control architecture for robotics. Is this a reasonable goal to pursue? In this paper we discuss this question and other related questions. We describe our philosophy for developing an architecture and describe the key elements of the evolution robotics software platform and architecture.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114843748","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511658
Hyun Kim, Young-Jo Cho, Sang-Rok Oh
A URC (ubiquitous robotic companion) is a concept for a network-based service robot. It allows the service robot to extend its functions and services by utilizing external sensor networks and remote computing servers. It also provides the robot's services at any time and any place. The URC requires not only the hardware infrastructure such as ubiquitous networks or sensor networks and high-performance computing servers but also the software infrastructure which resides above the hardware infrastructure. In this paper, authors introduce the CAMUS (context-aware middleware for URC system) as a part of the software infrastructure, which is a system middleware to support context-aware services for network-based robots. The CAMUS is based on the CORBA technology. It provides the common data model for different types of context information from external sensors, applications and users in the environment. It also offers the software framework to acquire, interpret and disseminate context information. PLUE (Programming Language for Ubiquitous Environment) is proposed to describe context-aware services for robots.
URC (ubiquitous robot companion)是基于网络的服务机器人的概念。它允许服务机器人利用外部传感器网络和远程计算服务器扩展其功能和服务。它还可以随时随地为机器人提供服务。URC不仅需要硬件基础设施,如无处不在的网络或传感器网络和高性能计算服务器,还需要驻留在硬件基础设施之上的软件基础设施。在本文中,作者介绍了CAMUS(上下文感知中间件URC系统)作为软件基础设施的一部分,它是一个系统中间件,用于支持基于网络的机器人的上下文感知服务。CAMUS基于CORBA技术。它为来自外部传感器、应用程序和环境中的用户的不同类型的上下文信息提供了通用数据模型。它还提供了获取、解释和传播语境信息的软件框架。提出了面向泛在环境的编程语言(Programming Language for Ubiquitous Environment, PLUE)来描述机器人的上下文感知服务。
{"title":"CAMUS: a middleware supporting context-aware services for network-based robots","authors":"Hyun Kim, Young-Jo Cho, Sang-Rok Oh","doi":"10.1109/ARSO.2005.1511658","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511658","url":null,"abstract":"A URC (ubiquitous robotic companion) is a concept for a network-based service robot. It allows the service robot to extend its functions and services by utilizing external sensor networks and remote computing servers. It also provides the robot's services at any time and any place. The URC requires not only the hardware infrastructure such as ubiquitous networks or sensor networks and high-performance computing servers but also the software infrastructure which resides above the hardware infrastructure. In this paper, authors introduce the CAMUS (context-aware middleware for URC system) as a part of the software infrastructure, which is a system middleware to support context-aware services for network-based robots. The CAMUS is based on the CORBA technology. It provides the common data model for different types of context information from external sensors, applications and users in the environment. It also offers the software framework to acquire, interpret and disseminate context information. PLUE (Programming Language for Ubiquitous Environment) is proposed to describe context-aware services for robots.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"278 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123291974","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511630
M. Jarrah
A mechatronics graduate program was started in September 2001 at the American University of Sharjab with the objective of helping working engineers meet the challenges posed by emerging technologies. The program strives at providing industry with a new generation of engineers having interdisciplinary skills necessary to deal with state of the art technology in designing, maintaining, selecting, and procuring modern engineering systems. This paper details framework of mechatronics design course (MTR 590). The course is a project-based course foundation course in the mechatronics graduate program. This paper gives the detail of the course objectives, typical projects, and course assessments. There are many challenges in teaching a design course to working engineers. Some of these challenges are encountered by selecting full time students to be project team leaders. The mechatronics design course coverage, and laboratory facilities are discussed.
{"title":"Teaching mechatronics design course for engineers","authors":"M. Jarrah","doi":"10.1109/ARSO.2005.1511630","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511630","url":null,"abstract":"A mechatronics graduate program was started in September 2001 at the American University of Sharjab with the objective of helping working engineers meet the challenges posed by emerging technologies. The program strives at providing industry with a new generation of engineers having interdisciplinary skills necessary to deal with state of the art technology in designing, maintaining, selecting, and procuring modern engineering systems. This paper details framework of mechatronics design course (MTR 590). The course is a project-based course foundation course in the mechatronics graduate program. This paper gives the detail of the course objectives, typical projects, and course assessments. There are many challenges in teaching a design course to working engineers. Some of these challenges are encountered by selecting full time students to be project team leaders. The mechatronics design course coverage, and laboratory facilities are discussed.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"200 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123677166","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511617
H. Asama
RT (robot technology) is expected to magnify the IT industry, which is characterized by the real time operation in the physical environment. Especially, integration of RT with ubiquitous computation technology makes a big impact on service industry. In this presentation, a concept of service media for ubiquitous service RT in the context of service engineering is introduced, which provides users with various services in a ubiquitous computing environment. Examples of ubiquitous RT devices called intelligent data carrier, and their application to user adaptive systems, rescue systems, and security systems are introduced.
{"title":"Service media using robotic technology in ubiquitous computing environment","authors":"H. Asama","doi":"10.1109/ARSO.2005.1511617","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511617","url":null,"abstract":"RT (robot technology) is expected to magnify the IT industry, which is characterized by the real time operation in the physical environment. Especially, integration of RT with ubiquitous computation technology makes a big impact on service industry. In this presentation, a concept of service media for ubiquitous service RT in the context of service engineering is introduced, which provides users with various services in a ubiquitous computing environment. Examples of ubiquitous RT devices called intelligent data carrier, and their application to user adaptive systems, rescue systems, and security systems are introduced.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125474372","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511655
R. Luo, K. Su, K.C. Lin
The security of home, laboratory, office, building and factory is important to human being. So we develop intelligent multi sensor-based security robot system that is widely employed in our daily life. The security robot can detect abnormal and dangerous situation and notify us. The structure of the security robot contains six parts. There is software development system; obstacle avoidance and motion planning system, image system, sensor system remote supervise system and other system. First, we develop a multi sensor-based sensor system for the security robot. Then we also present the remote mobile security system (RMS) for the security robot system. We think that man-machine interface in security robot system must have mobility and convenience. Therefore, we use touch panel to display system state, and design a general user interface (GUI) on the touch panel. We demonstrate the remote supervise system to control the security robot using direct control mode and behavior control mode, and we can get the behavior control mode better than direct control mode.
{"title":"Overview of the intelligent security robot - Chung Cheng I","authors":"R. Luo, K. Su, K.C. Lin","doi":"10.1109/ARSO.2005.1511655","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511655","url":null,"abstract":"The security of home, laboratory, office, building and factory is important to human being. So we develop intelligent multi sensor-based security robot system that is widely employed in our daily life. The security robot can detect abnormal and dangerous situation and notify us. The structure of the security robot contains six parts. There is software development system; obstacle avoidance and motion planning system, image system, sensor system remote supervise system and other system. First, we develop a multi sensor-based sensor system for the security robot. Then we also present the remote mobile security system (RMS) for the security robot system. We think that man-machine interface in security robot system must have mobility and convenience. Therefore, we use touch panel to display system state, and design a general user interface (GUI) on the touch panel. We demonstrate the remote supervise system to control the security robot using direct control mode and behavior control mode, and we can get the behavior control mode better than direct control mode.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124543495","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511659
K. Watanabe, R. Syam, K. Izumi
This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopt a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.
{"title":"A neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots","authors":"K. Watanabe, R. Syam, K. Izumi","doi":"10.1109/ARSO.2005.1511659","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511659","url":null,"abstract":"This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopt a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"263 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116491897","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}