Pub Date : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208623
Xiao-Dong Wen, Yong-Min Sheng, Wang Yan, Zhang Yuan, Li Qi
Aiming at the assembly of large-scale barrel parts, this paper puts forward a four-degree-of-freedom attitude adjustment method used in pairs, and studies the trajectory planning strategy of the joint space of the attitude adjustment mechanism. Based on the forward and inverse kinematics model, the mapping relationship between the motion characteristics of operation space and the motion characteristics of joint space is established by using the 3-4-5 polynomial motion law in joint space, and the trajectory is simulated. The results show that after trajectory planning in joint space, the equipment is compliant and impact-free in the whole attitude adjustment process, and it is feasible.
{"title":"Research on Trajectory Planning Method of Pairwise Four Degree-of-Freedom Adjusting Mechanism","authors":"Xiao-Dong Wen, Yong-Min Sheng, Wang Yan, Zhang Yuan, Li Qi","doi":"10.1109/CACRE58689.2023.10208623","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208623","url":null,"abstract":"Aiming at the assembly of large-scale barrel parts, this paper puts forward a four-degree-of-freedom attitude adjustment method used in pairs, and studies the trajectory planning strategy of the joint space of the attitude adjustment mechanism. Based on the forward and inverse kinematics model, the mapping relationship between the motion characteristics of operation space and the motion characteristics of joint space is established by using the 3-4-5 polynomial motion law in joint space, and the trajectory is simulated. The results show that after trajectory planning in joint space, the equipment is compliant and impact-free in the whole attitude adjustment process, and it is feasible.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115298407","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 : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208404
Jianming Zhu, Weixian Tang, Jian-Wei Dong, P. Li
The aero-engine is a highly intricate thermal mechanical system characterized by significant nonlinearity, uncertainty, and time-varying behavior. As aerospace technology continues to advance, there is an increasing demand for aero-engines to deliver higher levels of performance. Against this background, traditional control methods have shown limitations in achieving optimal outcomes. Intelligent aero-engine technology has emerged as a significant and promising research area. Therefore, a virtual reinforcement learning method for aero-engine intelligent control is proposed in this paper. Firstly, this research establishes a data-driven virtual simulation environment for the aero-engine employing long short-term memory (LSTM) neural networks. Subsequently, the intelligent controller is trained within this environment utilizing the deep deterministic policy gradient (DDPG) algorithm. Finally, we verify the intelligent controller performance with JT9D engine model. Compared with traditional PID control, the intelligent controller has smaller overshoot and shorter setting time.
{"title":"A Virtual Reinforcement Learning Method for Aero-engine Intelligent Control","authors":"Jianming Zhu, Weixian Tang, Jian-Wei Dong, P. Li","doi":"10.1109/CACRE58689.2023.10208404","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208404","url":null,"abstract":"The aero-engine is a highly intricate thermal mechanical system characterized by significant nonlinearity, uncertainty, and time-varying behavior. As aerospace technology continues to advance, there is an increasing demand for aero-engines to deliver higher levels of performance. Against this background, traditional control methods have shown limitations in achieving optimal outcomes. Intelligent aero-engine technology has emerged as a significant and promising research area. Therefore, a virtual reinforcement learning method for aero-engine intelligent control is proposed in this paper. Firstly, this research establishes a data-driven virtual simulation environment for the aero-engine employing long short-term memory (LSTM) neural networks. Subsequently, the intelligent controller is trained within this environment utilizing the deep deterministic policy gradient (DDPG) algorithm. Finally, we verify the intelligent controller performance with JT9D engine model. Compared with traditional PID control, the intelligent controller has smaller overshoot and shorter setting time.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115767725","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 : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208345
K. Zou, Xiaorong Guan, Zhong Li, Meng Zhu, Jie Wu
The human back is flat and broad, and has less interference with the limbs. It is often used as a platform for carrying heavy objects or wearable equipment. For wearable equipment such as wearable robot arm, a relatively stable environment is usually required for terminal execution of tasks. In the process of human movement, due to the high flexibility of human and softness of the back muscles, there will be great interference to the wearable manipulators, which is not conducive to the task completion. The analysis of the motion law of the back can effectively lay the foundation for the wearable robot arm to resist the interference of human kinematic characteristic. The analysis of human back kinematic characteristic can effectively lay the foundation for the wearable manipulator to resist the interference of human movement. In this paper, 3D optical motion capture is used to obtain the back motion data when the human body moves at a constant speed under different stride lengths. The installation position of the relatively stable wearable manipulator is determined according to the spatial displacement, velocity and the rotation of different sections of different points on the back. Through comparison, this paper concluded that the lower back was more stable than other positions in the process of walking and could be used as a platform for installation of wearable equipment. The kinematic characteristics of stable position is parameterized, which is used in the control of wearable manipulators, and has significance in the fields of ergonomics, sports science and bionic mechanism.
{"title":"The Experimental Research about the Human Back Kinematic Characteristics with Difference Stride","authors":"K. Zou, Xiaorong Guan, Zhong Li, Meng Zhu, Jie Wu","doi":"10.1109/CACRE58689.2023.10208345","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208345","url":null,"abstract":"The human back is flat and broad, and has less interference with the limbs. It is often used as a platform for carrying heavy objects or wearable equipment. For wearable equipment such as wearable robot arm, a relatively stable environment is usually required for terminal execution of tasks. In the process of human movement, due to the high flexibility of human and softness of the back muscles, there will be great interference to the wearable manipulators, which is not conducive to the task completion. The analysis of the motion law of the back can effectively lay the foundation for the wearable robot arm to resist the interference of human kinematic characteristic. The analysis of human back kinematic characteristic can effectively lay the foundation for the wearable manipulator to resist the interference of human movement. In this paper, 3D optical motion capture is used to obtain the back motion data when the human body moves at a constant speed under different stride lengths. The installation position of the relatively stable wearable manipulator is determined according to the spatial displacement, velocity and the rotation of different sections of different points on the back. Through comparison, this paper concluded that the lower back was more stable than other positions in the process of walking and could be used as a platform for installation of wearable equipment. The kinematic characteristics of stable position is parameterized, which is used in the control of wearable manipulators, and has significance in the fields of ergonomics, sports science and bionic mechanism.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124793836","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 : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208560
Danjie Si, Tingting Yang, Xiaorui Guo
In this paper, the prescribed time leader-follower formation control of nonholonomic vehicles is considered by utilizing the distributed observer. Compared with the traditional methods, it is proposed to use a prescribed time distributed observer to estimate the leader’s states, while only using the information of neighboring vehicles. This method allows us to specify the desired convergence time, which is more accurate than the finite time method. Moreover, a prescribed time sliding surface is designed to achieve the formation control of nonholo-nomic vehicles based on the proposed distributed state observer. A simulation result is provided at the conclusion to confirm the viability of the suggested theoretical findings.
{"title":"Prescribed Time Leader-follower Formation Control of Nonholonomic Vehicles with Distributed State Observer","authors":"Danjie Si, Tingting Yang, Xiaorui Guo","doi":"10.1109/CACRE58689.2023.10208560","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208560","url":null,"abstract":"In this paper, the prescribed time leader-follower formation control of nonholonomic vehicles is considered by utilizing the distributed observer. Compared with the traditional methods, it is proposed to use a prescribed time distributed observer to estimate the leader’s states, while only using the information of neighboring vehicles. This method allows us to specify the desired convergence time, which is more accurate than the finite time method. Moreover, a prescribed time sliding surface is designed to achieve the formation control of nonholo-nomic vehicles based on the proposed distributed state observer. A simulation result is provided at the conclusion to confirm the viability of the suggested theoretical findings.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"301 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117054713","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 : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208742
H. Guo, Tian-Tian Hong, Ya-Wei Zhang
The feature of mobile robot is to realize the purpose of completing a certain task by perceiving, receiving and processing the information of the external environment and independently planning the moving route in the static environment. This paper focuses on the path planning of mobile robots in static environment, and designs a set of static global path planning algorithm based on genetic algorithm through the research of path planning methods and related work. MATLAB is used to simulate the path planning algorithm, and analyzes the influence of related parameters on the path planning effect, as well as the basic idea of reasonable parameter adjustment. Finally, the path planning algorithm in dynamic environment is preliminarily studied and simulated.
{"title":"Path Planning Simulation and Research of Mobile Robot in Static Environment based on Genetic Algorithm","authors":"H. Guo, Tian-Tian Hong, Ya-Wei Zhang","doi":"10.1109/CACRE58689.2023.10208742","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208742","url":null,"abstract":"The feature of mobile robot is to realize the purpose of completing a certain task by perceiving, receiving and processing the information of the external environment and independently planning the moving route in the static environment. This paper focuses on the path planning of mobile robots in static environment, and designs a set of static global path planning algorithm based on genetic algorithm through the research of path planning methods and related work. MATLAB is used to simulate the path planning algorithm, and analyzes the influence of related parameters on the path planning effect, as well as the basic idea of reasonable parameter adjustment. Finally, the path planning algorithm in dynamic environment is preliminarily studied and simulated.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121812114","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 : 2023-07-01DOI: 10.1109/cacre58689.2023.10209027
{"title":"Copyright Page","authors":"","doi":"10.1109/cacre58689.2023.10209027","DOIUrl":"https://doi.org/10.1109/cacre58689.2023.10209027","url":null,"abstract":"","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121823955","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 : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208634
Manilyn Cabrera, Joanna Van Liew, Noah Turoski, Matthew Baysa, Yen-Lin Han
Sustaining a high-intensity rehabilitation routine is challenging for many, especially for less privileged populations with limited resources. Using robots for rehabilitation could potentially lower the barriers to accessing rehabilitation therapy and promote a more sustainable recovery process for patients in need. In this paper, we present a novel concept of an untethered soft robot designed to be used in finger rehabilitation. This soft robot is actuated by heat and, therefore, untethered from external tubes, valves, or pumps, which many other existing soft robots require to operate. In our soft robot design, a phase-changing material (PCM) is sealed inside an elastomer structure. As heat is applied, the PCM changes phase from liquid to gas, and the pressure inside the elastomer structure increases to cause the bending of the elastomer structure. To identify the best PCM to suit our design goals, we conducted preliminary experiments for our PCM-embedded soft robot prototypes made with various candidate PCMs. Although promising results mimicking human finger movement were observed for all prototypes tested, compared their bending responses with a benchmark pneumatic soft robot system, we conclude that NovecTM 7000 Engineering Fluid would be the most suitable PCM for our soft robot as an untethered finger rehabilitation device due to its desired operating conditions.
{"title":"Developing an Untethered Soft Robot for Finger Rehabilitation","authors":"Manilyn Cabrera, Joanna Van Liew, Noah Turoski, Matthew Baysa, Yen-Lin Han","doi":"10.1109/CACRE58689.2023.10208634","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208634","url":null,"abstract":"Sustaining a high-intensity rehabilitation routine is challenging for many, especially for less privileged populations with limited resources. Using robots for rehabilitation could potentially lower the barriers to accessing rehabilitation therapy and promote a more sustainable recovery process for patients in need. In this paper, we present a novel concept of an untethered soft robot designed to be used in finger rehabilitation. This soft robot is actuated by heat and, therefore, untethered from external tubes, valves, or pumps, which many other existing soft robots require to operate. In our soft robot design, a phase-changing material (PCM) is sealed inside an elastomer structure. As heat is applied, the PCM changes phase from liquid to gas, and the pressure inside the elastomer structure increases to cause the bending of the elastomer structure. To identify the best PCM to suit our design goals, we conducted preliminary experiments for our PCM-embedded soft robot prototypes made with various candidate PCMs. Although promising results mimicking human finger movement were observed for all prototypes tested, compared their bending responses with a benchmark pneumatic soft robot system, we conclude that NovecTM 7000 Engineering Fluid would be the most suitable PCM for our soft robot as an untethered finger rehabilitation device due to its desired operating conditions.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114764631","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 : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208848
Haijing Wang, Jinzhu Peng, Fangfang Zhang, Yaonan Wang
The safety control problem of a constrained uncertain robotic system is investigated in this paper. First, the high-order control barrier functions (HoCBFs) are introduced to deal with the output constraints for he system. And to solve the uncertain problem and revisit the HoCBF-based framework, an adaptive approach is proposed to updating the unknown parameters online. In this way, the system safety can be achieved adaptively by keeping the system output within the predefined constrained region even in the presence of parametric uncertainty. Finally, simulation tests are carried out to verify the validity of the proposed controller.
{"title":"Adaptive Safety Control of a Constrained Uncertain Robotic System","authors":"Haijing Wang, Jinzhu Peng, Fangfang Zhang, Yaonan Wang","doi":"10.1109/CACRE58689.2023.10208848","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208848","url":null,"abstract":"The safety control problem of a constrained uncertain robotic system is investigated in this paper. First, the high-order control barrier functions (HoCBFs) are introduced to deal with the output constraints for he system. And to solve the uncertain problem and revisit the HoCBF-based framework, an adaptive approach is proposed to updating the unknown parameters online. In this way, the system safety can be achieved adaptively by keeping the system output within the predefined constrained region even in the presence of parametric uncertainty. Finally, simulation tests are carried out to verify the validity of the proposed controller.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131260334","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 : 2023-07-01DOI: 10.1109/CACRE58689.2023.10208840
Yu Duan, Xianbo Xiang, Yifan Liu, Lichun Yang
In this paper, the adaptive backstepping method is used to construct the controller of the underactuated autonomous underwater vehicle (AUV) to realize its path following control. First, in the kinematics layer, the line-of-sight (LOS) guidance law is used to transform the two-dimensional path tracking into heading tracking, and then in the dynamics layer, the speed controller and the heading controller are designed to satisfy Lyapunov stability by using the adaptive backstepping method. Finally, the proposed control algorithm is deployed on REMUS-100 AUV to carry out simulation experiments of straight line path following and two-dimensional circular path following. The results show that the method has excellent performance in both error convergence speed and accuracy.
{"title":"Underactuated AUV Path Following Control Based on Adaptive Backstepping Method","authors":"Yu Duan, Xianbo Xiang, Yifan Liu, Lichun Yang","doi":"10.1109/CACRE58689.2023.10208840","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208840","url":null,"abstract":"In this paper, the adaptive backstepping method is used to construct the controller of the underactuated autonomous underwater vehicle (AUV) to realize its path following control. First, in the kinematics layer, the line-of-sight (LOS) guidance law is used to transform the two-dimensional path tracking into heading tracking, and then in the dynamics layer, the speed controller and the heading controller are designed to satisfy Lyapunov stability by using the adaptive backstepping method. Finally, the proposed control algorithm is deployed on REMUS-100 AUV to carry out simulation experiments of straight line path following and two-dimensional circular path following. The results show that the method has excellent performance in both error convergence speed and accuracy.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122328749","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}
Aiming at the problem of emergency detection and search in national marine related professional fields, a Monte-Carlo method based multiple Air-Water Amphibious Robots collaborative detection method for underwater targets is studied in this paper. Firstly, a multiple Air-Water Amphibious Robots cooperative detection formation was established, and the overlapping shadow areas of different arrays were explored, and conditions were set for the search area and the Air-Water Amphibious Robots cooperative detection formation. After simulation research, parameters of each multiple Air-Water Amphibious Robots were selected and assigned, and then a set of simulation process was designed to solve the problem. Finally, the proposed method is used to simulate the relationship between detection probability and search time for 8 formations. Through the analysis of simulation results, it is concluded that the corresponding formation can be adopted to detect and track different tasks and different stages of tasks to achieve the best detection effect.
{"title":"Monte-Carlo Method-Based Collaborative Detection of Underwater Targets by Multiple Air-Water Amphibious Robots","authors":"Shuchang Bai, Lichuan Zhang, Lu Liu, Qiaoqiao Zhao, Zixiao Zhu, Wenlong Geng, Chen Zhang, Ziyang Chen","doi":"10.1109/CACRE58689.2023.10208808","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208808","url":null,"abstract":"Aiming at the problem of emergency detection and search in national marine related professional fields, a Monte-Carlo method based multiple Air-Water Amphibious Robots collaborative detection method for underwater targets is studied in this paper. Firstly, a multiple Air-Water Amphibious Robots cooperative detection formation was established, and the overlapping shadow areas of different arrays were explored, and conditions were set for the search area and the Air-Water Amphibious Robots cooperative detection formation. After simulation research, parameters of each multiple Air-Water Amphibious Robots were selected and assigned, and then a set of simulation process was designed to solve the problem. Finally, the proposed method is used to simulate the relationship between detection probability and search time for 8 formations. Through the analysis of simulation results, it is concluded that the corresponding formation can be adopted to detect and track different tasks and different stages of tasks to achieve the best detection effect.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129057261","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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