It is known that the cells responds to external mechanical stimulations. Although the effectiveness of vibrational stimulation for the osteoanagenesis has been reported, the clarification of detailed mechanism for this phenomenon is insufficient. In this study, a micro device has been developed to evaluate the cell dynamics and responses to vibrations. The micro device has an array of moving micro stages which have transparent 5 µm thick thin film to enable them to observe the cell responses to vibrational stimulations by using an optical microscope. The moving micro stages are moved with a needle actuated by piezo actuator. Microfabrication processes, such as conventional photolithography, lift-off, and sacrificial layer etching, were used to fabricate the micro device. We designed two types of concepts for supporting and vibrating moving micro stages. Prototypes were fabricated and evaluated under vibrational conditions. Proposed design with the moving micro stages vibrating perpendicular to the beams generated simple linear oscillation without rotation. It was verified that the fabricated micro stage could be vibrated at the acceleration amplitude of 0.1 and 0.2 G with frequency 15, 45, and 90 Hz.
{"title":"Evaluation of the Basic Designs of a Micro Device that Provides Vibrational Stimulation to Cells","authors":"Kazuyuki Minami, Tasuku Nakahara, Katsuya Sato","doi":"10.20965/jrm.2023.p1151","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1151","url":null,"abstract":"It is known that the cells responds to external mechanical stimulations. Although the effectiveness of vibrational stimulation for the osteoanagenesis has been reported, the clarification of detailed mechanism for this phenomenon is insufficient. In this study, a micro device has been developed to evaluate the cell dynamics and responses to vibrations. The micro device has an array of moving micro stages which have transparent 5 µm thick thin film to enable them to observe the cell responses to vibrational stimulations by using an optical microscope. The moving micro stages are moved with a needle actuated by piezo actuator. Microfabrication processes, such as conventional photolithography, lift-off, and sacrificial layer etching, were used to fabricate the micro device. We designed two types of concepts for supporting and vibrating moving micro stages. Prototypes were fabricated and evaluated under vibrational conditions. Proposed design with the moving micro stages vibrating perpendicular to the beams generated simple linear oscillation without rotation. It was verified that the fabricated micro stage could be vibrated at the acceleration amplitude of 0.1 and 0.2 G with frequency 15, 45, and 90 Hz.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567135","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}
This study discusses component separation using a microfluidic device. Based on the separation principle, a method was adopted to generate an external force due to centrifugal force in a spirally designed channel. In this study, four types of polystyrene particles with different diameters ranging within 1–45 µm were used, and the separation performance was evaluated for each particle size. The centrifugal force increased as the flow velocity in the channel increased; however, this time, the test was conducted with the flow rate, which is an input parameter fixed at 100 µL/min. The results of the micro-channel observation using a high-speed camera indicated that the particle density might be a factor in the decrease in separation efficiency. Therefore, by conducting tests at three different particle densities, we were able to experimentally investigate the change in separation efficiency based on the particle size and density. In this study, we considered the separation efficiency due to the size and density of the particle diameter along with its application to an onsite-type separation device.
{"title":"Analysis of Separation Efficiency Focusing on Particle Concentration and Size Using a Spiral Microfluidic Device","authors":"Mitsuhiro Horade, Syunsuke Mukae, Tasuku Yamawaki, Masahito Yashima, Shuichi Murakami, Tsunemasa Saiki","doi":"10.20965/jrm.2023.p1203","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1203","url":null,"abstract":"This study discusses component separation using a microfluidic device. Based on the separation principle, a method was adopted to generate an external force due to centrifugal force in a spirally designed channel. In this study, four types of polystyrene particles with different diameters ranging within 1–45 µm were used, and the separation performance was evaluated for each particle size. The centrifugal force increased as the flow velocity in the channel increased; however, this time, the test was conducted with the flow rate, which is an input parameter fixed at 100 µL/min. The results of the micro-channel observation using a high-speed camera indicated that the particle density might be a factor in the decrease in separation efficiency. Therefore, by conducting tests at three different particle densities, we were able to experimentally investigate the change in separation efficiency based on the particle size and density. In this study, we considered the separation efficiency due to the size and density of the particle diameter along with its application to an onsite-type separation device.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567878","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}
We conducted a study on the user experience design process ((i) research and analysis, (ii) concept design, and (iii) prototyping) to identify the requirements for a robot for supporting construction management. From this study, seven hypotheses were obtained for these requirements. One horizontal prototype satisfying three of these hypothesized requirements and three local prototypes satisfying one hypothesis each were created. The prototypes were evaluated in the field. The remaining one hypothesis was not tested at this time due to the longer trial period required for validation. It would be more appropriate to validate it during the evaluation of the vertical prototype or the system as a whole. Based on the results of the field evaluation, it was made clear that the hypothesized six requirements are reasonable requirements for a robot to support construction management.
{"title":"Requirement Development of a Robot that Supports Construction Management Using Tracked Vehicle for Rough Terrain","authors":"Aiko Ohtsuka, Atsuo Kawaguchi, Masuyoshi Yachida, Koichi Kudo, Ryota Yamashina, Takayuki Fujii, Yoshitaka Yanagihara","doi":"10.20965/jrm.2023.p1267","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1267","url":null,"abstract":"We conducted a study on the user experience design process ((i) research and analysis, (ii) concept design, and (iii) prototyping) to identify the requirements for a robot for supporting construction management. From this study, seven hypotheses were obtained for these requirements. One horizontal prototype satisfying three of these hypothesized requirements and three local prototypes satisfying one hypothesis each were created. The prototypes were evaluated in the field. The remaining one hypothesis was not tested at this time due to the longer trial period required for validation. It would be more appropriate to validate it during the evaluation of the vertical prototype or the system as a whole. Based on the results of the field evaluation, it was made clear that the hypothesized six requirements are reasonable requirements for a robot to support construction management.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567882","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}
A multimodal cyclic-label dequantized Gaussian process latent variable model (mCDGP) for visual emotion recognition is presented in this paper. Although the emotion is followed by various emotion models that describe cyclic interactions between them, they should be represented as precise labels respecting the emotions’ continuity. Traditional feature integration approaches, however, are incapable of reflecting circular structures to the common latent space. To address this issue, mCDGP uses the common latent space and the cyclic-label dequantization by maximizing the probability function utilizing the cyclic-label feature as one of the observed features. The likelihood maximization problem provides limits to preserve the emotions’ circular structures. Then mCDGP increases the number of dimensions of the common latent space by translating the rough label to the detailed one by label dequantization, with a focus on emotion continuity. Furthermore, label dequantization improves the ability to express label features by retaining circular structures, making accurate visual emotion recognition possible. The main contribution of this paper is the implementation of feature integration through the use of cyclic-label dequantization.
{"title":"Visual Emotion Recognition Through Multimodal Cyclic-Label Dequantized Gaussian Process Latent Variable Model","authors":"Naoki Saito, Keisuke Maeda, Takahiro Ogawa, Satoshi Asamizu, Miki Haseyama","doi":"10.20965/jrm.2023.p1321","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1321","url":null,"abstract":"A multimodal cyclic-label dequantized Gaussian process latent variable model (mCDGP) for visual emotion recognition is presented in this paper. Although the emotion is followed by various emotion models that describe cyclic interactions between them, they should be represented as precise labels respecting the emotions’ continuity. Traditional feature integration approaches, however, are incapable of reflecting circular structures to the common latent space. To address this issue, mCDGP uses the common latent space and the cyclic-label dequantization by maximizing the probability function utilizing the cyclic-label feature as one of the observed features. The likelihood maximization problem provides limits to preserve the emotions’ circular structures. Then mCDGP increases the number of dimensions of the common latent space by translating the rough label to the detailed one by label dequantization, with a focus on emotion continuity. Furthermore, label dequantization improves the ability to express label features by retaining circular structures, making accurate visual emotion recognition possible. The main contribution of this paper is the implementation of feature integration through the use of cyclic-label dequantization.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135568010","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}
This study aims to realize a precision grasp of unknown-shaped objects. Precision grasping requires a detailed understanding of the surface shapes such as concavity and convexity. If an accurate shape model is not given in advance, it must be addressed by sensing. We have proposed a method for recognizing detailed object shapes using proximity sensors equipped on each fingertip of a multi-fingered robot hand. Direct sensing of the object’s surface from the fingertips enables both avoidance of unintended collision during the approach process and recognition of surface profiles for use in planning and executing stable grasping. This paper introduces local surface curvature estimation to improve the accuracy of local surface recognition. We propose practical and accurate models to estimate local curvature based on various characteristic tests on the proximity sensor and to estimate the distance to the nearest point. In actual experiments, it was shown that it was possible to estimate the position of the nearest point with a mean error of less than 2 mm and to predict grasping stability in reasonable real-time for the object shape.
{"title":"Local Curvature Estimation and Grasp Stability Prediction Based on Proximity Sensors on a Multi-Fingered Robot Hand","authors":"Yosuke Suzuki, Ryoya Yoshida, Tokuo Tsuji, Toshihiro Nishimura, Tetsuyou Watanabe","doi":"10.20965/jrm.2023.p1340","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1340","url":null,"abstract":"This study aims to realize a precision grasp of unknown-shaped objects. Precision grasping requires a detailed understanding of the surface shapes such as concavity and convexity. If an accurate shape model is not given in advance, it must be addressed by sensing. We have proposed a method for recognizing detailed object shapes using proximity sensors equipped on each fingertip of a multi-fingered robot hand. Direct sensing of the object’s surface from the fingertips enables both avoidance of unintended collision during the approach process and recognition of surface profiles for use in planning and executing stable grasping. This paper introduces local surface curvature estimation to improve the accuracy of local surface recognition. We propose practical and accurate models to estimate local curvature based on various characteristic tests on the proximity sensor and to estimate the distance to the nearest point. In actual experiments, it was shown that it was possible to estimate the position of the nearest point with a mean error of less than 2 mm and to predict grasping stability in reasonable real-time for the object shape.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567292","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}
Various devices have been developed that use stretching silicone sheets to evaluate cellular mechanotransduction. However, few studies have explored predefined cell alignments using mechanical stimuli for engineering applications, including cell sheets and drug screenings. Therefore, we proposed a magnetically driven cell-stretching device for predefined cell alignment in vitro , which consisted mainly of a circular silicone membrane with a neodymium magnet and standard cell culture dish. As the proposed device was incorporated into a cell culture dish, there may be a small risk of contamination in long-term incubation experiments. The device was fabricated by assembling a polydimethylsiloxane membrane and silicone ring. The fabricated device showed that the membrane strain increased with increasing voltage application to the electromagnet, and indicated that cell alignment occurs when strain exceeds 0.8%. Following cyclic stimulation of cells adhered to a membrane for 4 h in a CO 2 incubator with 1.05% strain at 0.1 Hz, cell alignment with the predefined direction increased by 20.4% compared to that before stimulation. The findings imply that the proposed device may be utilized for predefined cell alignment.
{"title":"Fabrication of a Magnetically Driven Cell-Stretching Device for Predefined Cell Alignment <i>in Vitro</i>","authors":"Tasuku Nakahara, Sora Ono, Kazuyuki Minami","doi":"10.20965/jrm.2023.p1143","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1143","url":null,"abstract":"Various devices have been developed that use stretching silicone sheets to evaluate cellular mechanotransduction. However, few studies have explored predefined cell alignments using mechanical stimuli for engineering applications, including cell sheets and drug screenings. Therefore, we proposed a magnetically driven cell-stretching device for predefined cell alignment in vitro , which consisted mainly of a circular silicone membrane with a neodymium magnet and standard cell culture dish. As the proposed device was incorporated into a cell culture dish, there may be a small risk of contamination in long-term incubation experiments. The device was fabricated by assembling a polydimethylsiloxane membrane and silicone ring. The fabricated device showed that the membrane strain increased with increasing voltage application to the electromagnet, and indicated that cell alignment occurs when strain exceeds 0.8%. Following cyclic stimulation of cells adhered to a membrane for 4 h in a CO 2 incubator with 1.05% strain at 0.1 Hz, cell alignment with the predefined direction increased by 20.4% compared to that before stimulation. The findings imply that the proposed device may be utilized for predefined cell alignment.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567298","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}
This paper proposes a method to improve the accuracy of 3D measurement of a stereo camera by marking a measured object using a line laser. Stereo cameras are commonly used for 3D measurement, but the accuracy of 3D measurement is affected by the amount of texture. Therefore, a new measurement system combining a stereo camera and a line laser is developed. The accuracy of 3D measurement with a stereo camera is improved by using a line laser to mark arbitrary points on the measured object and measuring the marked points, regardless of the amount of texture on the measured object. Because the laser is only used to mark points on the measurement target, calibration is not required with the stereo camera. Experimental evaluation showed that our proposed method can obtain millimeters.
{"title":"Experimental Evaluation of Highly Accurate 3D Measurement Using Stereo Camera and Line Laser","authors":"Shunya Nonaka, Sarthak Pathak, Kazunori Umeda","doi":"10.20965/jrm.2023.p1374","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1374","url":null,"abstract":"This paper proposes a method to improve the accuracy of 3D measurement of a stereo camera by marking a measured object using a line laser. Stereo cameras are commonly used for 3D measurement, but the accuracy of 3D measurement is affected by the amount of texture. Therefore, a new measurement system combining a stereo camera and a line laser is developed. The accuracy of 3D measurement with a stereo camera is improved by using a line laser to mark arbitrary points on the measured object and measuring the marked points, regardless of the amount of texture on the measured object. Because the laser is only used to mark points on the measurement target, calibration is not required with the stereo camera. Experimental evaluation showed that our proposed method can obtain millimeters.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135568012","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}
In the present study, we describe attempts to develop medical/healthcare measurement devices from the body surface using microfabrication technology. These devices can be divided into two types: internal vessel diameter measurement from the body surface using ultrasound to measure blood pressure and vascular tone, and collection and measurement of biological substances and collection of cells from the body surface.
{"title":"Bio-MEMS Devices for Medical and Healthcare Measurements from the Body Surface","authors":"Yoichi Haga, Noriko Tsuruoka","doi":"10.20965/jrm.2023.p1123","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1123","url":null,"abstract":"In the present study, we describe attempts to develop medical/healthcare measurement devices from the body surface using microfabrication technology. These devices can be divided into two types: internal vessel diameter measurement from the body surface using ultrasound to measure blood pressure and vascular tone, and collection and measurement of biological substances and collection of cells from the body surface.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135568017","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}
Smooth interactions between talkers can be realized by transmitting and receiving mutual video images and voices in remote communication. However, in such remote communication, it is difficult to generate a sense of unity and an interactive atmosphere because humans recognize screens as a boundary of the physical space. Therefore, it is essential to develop a communication system that can generate and share an interactive atmosphere and interaction-activated communication even if talkers are in remote places. In this study, we developed a speech-driven avatar robot system incorporating an estimation model that simulates the degree of activated communication based on the talker’s speech. The developed avatar robot system can visualize an interactive atmosphere while changing the complexion based on an estimated value. The effectiveness of the developed system was demonstrated by means of sensory evaluations.
{"title":"Speech-Driven Avatar Robot System with Changing Complexion for the Visualization of an Interactive Atmosphere","authors":"Yoshihiro Sejima, Liheng Yang, Saki Inagaki, Daiki Morita","doi":"10.20965/jrm.2023.p1331","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1331","url":null,"abstract":"Smooth interactions between talkers can be realized by transmitting and receiving mutual video images and voices in remote communication. However, in such remote communication, it is difficult to generate a sense of unity and an interactive atmosphere because humans recognize screens as a boundary of the physical space. Therefore, it is essential to develop a communication system that can generate and share an interactive atmosphere and interaction-activated communication even if talkers are in remote places. In this study, we developed a speech-driven avatar robot system incorporating an estimation model that simulates the degree of activated communication based on the talker’s speech. The developed avatar robot system can visualize an interactive atmosphere while changing the complexion based on an estimated value. The effectiveness of the developed system was demonstrated by means of sensory evaluations.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567296","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}
Quadruped mammals can control the movement of their center of gravity when turning by skillfully utilizing their bodies to achieve adaptive turning movements. Interestingly, the low-speed turning behavior also changes depending on the animal’s morphology. Therefore, this study aims to understand the control algorithm of low-speed turning, which can reproduce the turning behavior according to the location of the center of gravity. Specifically, we constructed a control algorithm based on the knowledge that animals steer with the leg closest to the center of gravity and verified it with a quadruped robot whose center of gravity could be adjusted. Consequently, the behavior observed in animals was successfully reproduced, with a stable and large turning angle per time when the proposed control algorithm was used.
{"title":"Decentralized Control Mechanism Underlying Morphology-Dependent Quadruped Turning","authors":"Hayato Amaike, Akira Fukuhara, Takeshi Kano, Akio Ishiguro","doi":"10.20965/jrm.2023.p1290","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1290","url":null,"abstract":"Quadruped mammals can control the movement of their center of gravity when turning by skillfully utilizing their bodies to achieve adaptive turning movements. Interestingly, the low-speed turning behavior also changes depending on the animal’s morphology. Therefore, this study aims to understand the control algorithm of low-speed turning, which can reproduce the turning behavior according to the location of the center of gravity. Specifically, we constructed a control algorithm based on the knowledge that animals steer with the leg closest to the center of gravity and verified it with a quadruped robot whose center of gravity could be adjusted. Consequently, the behavior observed in animals was successfully reproduced, with a stable and large turning angle per time when the proposed control algorithm was used.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567301","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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