Pub Date : 2025-01-27DOI: 10.1016/j.automatica.2025.112156
Liang Xu , Youfeng Su , He Cai
This paper solves the leaderless consensus problem of multiple nonholonomic mobile robots over undirected graphs by a novel distributed event-triggered controller where a persistently exciting signal is utilized to overcome the nonholonomic constraint. A new triggering mechanism containing two triggering conditions is developed with respect to the cascaded structure of the closed-loop system which makes the leaderless consensus problem tractable in the sense that we no longer need to find any strict Lyapunov function for the entire closed-loop system. It is proven in order that the solution of the closed-loop system is uniformly globally bounded, that the full consensus subspace is uniformly globally exponentially attractive, and that the Zeno behavior shall never occur. A numerical example is provided to validate the effectiveness of the proposed controller.
{"title":"Event-triggered consensus of multiple nonholonomic mobile robots","authors":"Liang Xu , Youfeng Su , He Cai","doi":"10.1016/j.automatica.2025.112156","DOIUrl":"10.1016/j.automatica.2025.112156","url":null,"abstract":"<div><div>This paper solves the leaderless consensus problem of multiple nonholonomic mobile robots over undirected graphs by a novel distributed event-triggered controller where a persistently exciting signal is utilized to overcome the nonholonomic constraint. A new triggering mechanism containing two triggering conditions is developed with respect to the cascaded structure of the closed-loop system which makes the leaderless consensus problem tractable in the sense that we no longer need to find any strict Lyapunov function for the entire closed-loop system. It is proven in order that the solution of the closed-loop system is uniformly globally bounded, that the full consensus subspace is uniformly globally exponentially attractive, and that the Zeno behavior shall never occur. A numerical example is provided to validate the effectiveness of the proposed controller.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112156"},"PeriodicalIF":4.8,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-01-24DOI: 10.1016/j.automatica.2025.112122
Arthur N. Montanari , Chao Duan , Adilson E. Motter
Functional observability and output controllability are properties that establish the conditions for the partial estimation and partial control of the system state, respectively. In the special case of full-state observability and controllability, the Popov–Belevitch–Hautus (PBH) tests provide conditions for the properties to hold based on the system eigenspace. Generalizations of the PBH tests have been recently proposed for functional observability and output controllability, but thus far they have only been proven valid for diagonalizable systems. Here, we rigorously establish the generalized PBH test for functional observability, extending its validity to a broader class of systems using Jordan decomposition. Likewise, we determine the class of systems under which the generalized PBH test is sufficient and necessary for output controllability. These results have immediate implications for observer and controller design, pole assignment, and optimal placement of sensors and drivers.
{"title":"On the Popov–Belevitch–Hautus tests for functional observability and output controllability","authors":"Arthur N. Montanari , Chao Duan , Adilson E. Motter","doi":"10.1016/j.automatica.2025.112122","DOIUrl":"10.1016/j.automatica.2025.112122","url":null,"abstract":"<div><div>Functional observability and output controllability are properties that establish the conditions for the partial estimation and partial control of the system state, respectively. In the special case of full-state observability and controllability, the Popov–Belevitch–Hautus (PBH) tests provide conditions for the properties to hold based on the system eigenspace. Generalizations of the PBH tests have been recently proposed for functional observability and output controllability, but thus far they have only been proven valid for diagonalizable systems. Here, we rigorously establish the generalized PBH test for functional observability, extending its validity to a broader class of systems using Jordan decomposition. Likewise, we determine the class of systems under which the generalized PBH test is sufficient and necessary for output controllability. These results have immediate implications for observer and controller design, pole assignment, and optimal placement of sensors and drivers.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112122"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-01-24DOI: 10.1016/j.automatica.2024.112093
Yan Wang , Wei Wang , Kun Zhang , Yunjian Xu , Rong Su
This paper studies the linear quadratic control for non-Gaussian interconnected systems (ISs). A nonclassical information pattern called delayed sharing pattern is considered. Most existing literature on linear quadratic control with delayed sharing pattern considers only the average event performance. However, the low-probability, yet extreme event may significantly damage the system. With explicit incorporation of a risk constraint, we design a best linear controller to balance the tradeoff between average and extreme event performance, which is referred to as the risk-constrained best linear controller (RcBLC). We extend the projection principle of random variables. Through the extended projection principle and the Lagrangian duality theory, we establish a framework, in which the RcBLC can be designed by solving two tractable optimization subproblems with the optimal Lagrange multiplier found by the binary search method. Based on the established framework, we develop efficient design algorithms for the proposed RcBLC. Finally, the merit of the proposed method is illustrated by numerical simulation on a two-UAV system.
{"title":"Risk-constrained linear quadratic control with one-step delayed sharing information pattern","authors":"Yan Wang , Wei Wang , Kun Zhang , Yunjian Xu , Rong Su","doi":"10.1016/j.automatica.2024.112093","DOIUrl":"10.1016/j.automatica.2024.112093","url":null,"abstract":"<div><div>This paper studies the linear quadratic control for non-Gaussian interconnected systems (ISs). A nonclassical information pattern called delayed sharing pattern is considered. Most existing literature on linear quadratic control with delayed sharing pattern considers only the average event performance. However, the low-probability, yet extreme event may significantly damage the system. With explicit incorporation of a risk constraint, we design a best linear controller to balance the tradeoff between average and extreme event performance, which is referred to as the <em>risk-constrained best linear controller (RcBLC)</em>. We extend the projection principle of random variables. Through the extended projection principle and the Lagrangian duality theory, we establish a framework, in which the RcBLC can be designed by solving two tractable optimization subproblems with the optimal Lagrange multiplier found by the binary search method. Based on the established framework, we develop efficient design algorithms for the proposed RcBLC. Finally, the merit of the proposed method is illustrated by numerical simulation on a two-UAV system.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112093"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130361","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-01-24DOI: 10.1016/j.automatica.2024.112097
Ying Zhang, Linna Zhou, Lei Ma, Chunyu Yang
This paper studies the state estimation issue for two-time-scale cyber–physical systems (TTSCPSs) with slow and fast transmission channels (TCs) under asynchronous cyber attacks. A novel multimodal attack model is established, by which the attack is generated with alternating modes of denial-of-service and deception attacks in each TC. To mitigate the detrimental effects of such attacks, a unique -dependent estimator and corresponding gain scheduling rule are designed. Then, by constructing an -dependent Lyapunov function, sufficient conditions are derived to ensure that the estimation error system is exponentially mean square stable with a prescribed performance. It is worth mentioning that the possible numerical stiffness caused by two-time-scale properties is averted in the designed estimation algorithm. Finally, the effectiveness of the developed algorithm is illustrated by two simulation examples.
{"title":"State estimation for the two-time-scale CPSs: Handling asynchronous multimodal attacks","authors":"Ying Zhang, Linna Zhou, Lei Ma, Chunyu Yang","doi":"10.1016/j.automatica.2024.112097","DOIUrl":"10.1016/j.automatica.2024.112097","url":null,"abstract":"<div><div>This paper studies the state estimation issue for two-time-scale cyber–physical systems (TTSCPSs) with slow and fast transmission channels (TCs) under asynchronous cyber attacks. A novel multimodal attack model is established, by which the attack is generated with alternating modes of denial-of-service and deception attacks in each TC. To mitigate the detrimental effects of such attacks, a unique <span><math><mi>ɛ</mi></math></span>-dependent estimator and corresponding gain scheduling rule are designed. Then, by constructing an <span><math><mi>ɛ</mi></math></span>-dependent Lyapunov function, sufficient conditions are derived to ensure that the estimation error system is exponentially mean square stable with a prescribed <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance. It is worth mentioning that the possible numerical stiffness caused by two-time-scale properties is averted in the designed estimation algorithm. Finally, the effectiveness of the developed algorithm is illustrated by two simulation examples.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112097"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-01-24DOI: 10.1016/j.automatica.2025.112127
Alessio La Bella , Marcello Farina , William D’Amico , Luca Zaccarian
In this paper we propose novel global and regional stability analysis conditions based on linear matrix inequalities for a general class of recurrent neural networks. These conditions can be also used for state-feedback control design and a suitable optimization problem enforcing norm minimization properties is defined. The theoretical results are corroborated by numerical simulations, showing the advantages and limitations of the methods presented herein.
{"title":"Regional stability conditions for recurrent neural network-based control systems","authors":"Alessio La Bella , Marcello Farina , William D’Amico , Luca Zaccarian","doi":"10.1016/j.automatica.2025.112127","DOIUrl":"10.1016/j.automatica.2025.112127","url":null,"abstract":"<div><div>In this paper we propose novel global and regional stability analysis conditions based on linear matrix inequalities for a general class of recurrent neural networks. These conditions can be also used for state-feedback control design and a suitable optimization problem enforcing <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> norm minimization properties is defined. The theoretical results are corroborated by numerical simulations, showing the advantages and limitations of the methods presented herein.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112127"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-01-24DOI: 10.1016/j.automatica.2025.112133
Benita Nortmann , Mario Sassano , Thulasi Mylvaganam
Considering infinite-horizon, discrete-time, linear quadratic, -player dynamic games with scalar dynamics, a graphical representation of feedback Nash equilibrium solutions is provided. This representation is utilised to derive conditions for the number and properties of different feedback Nash equilibria a game may admit. The results are illustrated via a numerical example.
{"title":"Feedback Nash equilibria for scalar N-player linear quadratic dynamic games","authors":"Benita Nortmann , Mario Sassano , Thulasi Mylvaganam","doi":"10.1016/j.automatica.2025.112133","DOIUrl":"10.1016/j.automatica.2025.112133","url":null,"abstract":"<div><div>Considering infinite-horizon, discrete-time, linear quadratic, <span><math><mi>N</mi></math></span>-player dynamic games with scalar dynamics, a graphical representation of feedback Nash equilibrium solutions is provided. This representation is utilised to derive conditions for the number and properties of different feedback Nash equilibria a game may admit. The results are illustrated via a numerical example.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112133"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130707","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-01-24DOI: 10.1016/j.automatica.2025.112131
Housheng Su, Miaohong Luo, Zhigang Zeng
In this paper, the coordination control problem of discrete-time multi-agent systems (MASs) with uncertainties is studied by the output feedback technique, where the uncertainties are unknown disturbances and initial states. Firstly, a reduced-order neighborhood framer is constructed by using the boundary information of uncertainties. Secondly, a control protocol that depends on the absolute information of the agent framer is proposed by solving a modified algebraic Riccati equation. The results demonstrate that the control protocol can render a reduced-order neighborhood framer as a reduced-order neighborhood interval observer, which can not only realize the interval-valued estimation on the sum of the relative states between each agent and its neighbors in real time, but also realize the cooperative behavior of MASs under some sufficient conditions involving network synchronization and the instability degree of the agent. In addition, direct and indirect methods are proposed to eliminate the nonnegative constraint. Finally, the theoretical results are verified by two numerical simulations.
{"title":"Reduced-order interval observer-based coordination control for discrete-time multi-agent systems","authors":"Housheng Su, Miaohong Luo, Zhigang Zeng","doi":"10.1016/j.automatica.2025.112131","DOIUrl":"10.1016/j.automatica.2025.112131","url":null,"abstract":"<div><div>In this paper, the coordination control problem of discrete-time multi-agent systems (MASs) with uncertainties is studied by the output feedback technique, where the uncertainties are unknown disturbances and initial states. Firstly, a reduced-order neighborhood framer is constructed by using the boundary information of uncertainties. Secondly, a control protocol that depends on the absolute information of the agent framer is proposed by solving a modified algebraic Riccati equation. The results demonstrate that the control protocol can render a reduced-order neighborhood framer as a reduced-order neighborhood interval observer, which can not only realize the interval-valued estimation on the sum of the relative states between each agent and its neighbors in real time, but also realize the cooperative behavior of MASs under some sufficient conditions involving network synchronization and the instability degree of the agent. In addition, direct and indirect methods are proposed to eliminate the nonnegative constraint. Finally, the theoretical results are verified by two numerical simulations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112131"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-01-24DOI: 10.1016/j.automatica.2025.112132
Xiang Zhang , Shuping He , Ying Tan , Weidong Zhang
This paper investigates the implementation of a sliding mode control law with an observer-based state-feedback controller for Markov jump systems, utilizing output measurements obtained from a communication network followed by a multi-processor block. The employed Round-Robin strategy schedules node activation in communication. In this setup, hidden Markov models with specific transition probabilities are proposed to regulate processors’ modes. Through the design of appropriate sliding functions, feedback gain matrices, and observer gain matrices, our results demonstrate that both the estimation errors and states in the closed-loop system exhibit mean-square exponentially ultimate boundedness. Additionally, sufficient conditions are presented to establish the reachability of the selected sliding surface. Implementation algorithms are outlined based on these results, followed by simulation studies illustrating the effectiveness of the proposed design techniques.
{"title":"Sliding mode control of Markov jump systems: Multi-processor based observer approach","authors":"Xiang Zhang , Shuping He , Ying Tan , Weidong Zhang","doi":"10.1016/j.automatica.2025.112132","DOIUrl":"10.1016/j.automatica.2025.112132","url":null,"abstract":"<div><div>This paper investigates the implementation of a sliding mode control law with an observer-based state-feedback controller for Markov jump systems, utilizing output measurements obtained from a communication network followed by a multi-processor block. The employed Round-Robin strategy schedules node activation in communication. In this setup, hidden Markov models with specific transition probabilities are proposed to regulate processors’ modes. Through the design of appropriate sliding functions, feedback gain matrices, and observer gain matrices, our results demonstrate that both the estimation errors and states in the closed-loop system exhibit mean-square exponentially ultimate boundedness. Additionally, sufficient conditions are presented to establish the reachability of the selected sliding surface. Implementation algorithms are outlined based on these results, followed by simulation studies illustrating the effectiveness of the proposed design techniques.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112132"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130600","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-01-24DOI: 10.1016/j.automatica.2025.112135
Xin Yu , Wei Lin
We consider the output feedback control problem for a family of single-input–single-output (SISO) time-delay uncertain nonlinear systems. Under a linear growth condition, we develop a universal output feedback control strategy that achieves adaptive state regulation with global stability, despite of the presence of unknown parameters as well as unknown delays in the state, input and output. The proposed dynamic output compensator relies on the recent progress (Yu and Lin, 2025) in adaptive control of the same class of uncertain systems with unknown delays by memoryless state feedback, and the construction of a dynamic-gain based observer, in the spirit of the universal output feedback control (Lei and Lin, 2005, 2006). As a consequence, we obtain solutions to output feedback control of a chain of time-delay integrators and a class of time-delay linear systems, respectively, both with unknown delays and/or unknown parameters.
{"title":"Universal output feedback control of a class of uncertain nonlinear systems with unknown delays in state, input and output","authors":"Xin Yu , Wei Lin","doi":"10.1016/j.automatica.2025.112135","DOIUrl":"10.1016/j.automatica.2025.112135","url":null,"abstract":"<div><div>We consider the output feedback control problem for a family of single-input–single-output (SISO) time-delay uncertain nonlinear systems. Under a linear growth condition, we develop a universal output feedback control strategy that achieves adaptive state regulation with global stability, despite of the presence of <em>unknown parameters</em> as well as <em>unknown delays in the state, input and output</em>. The proposed dynamic output compensator relies on the recent progress (Yu and Lin, 2025) in adaptive control of the same class of uncertain systems with unknown delays by memoryless state feedback, and the construction of a dynamic-gain based observer, in the spirit of the universal output feedback control (Lei and Lin, 2005, 2006). As a consequence, we obtain solutions to output feedback control of a chain of time-delay integrators and a class of time-delay linear systems, respectively, both with unknown delays and/or unknown parameters.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112135"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-01-24DOI: 10.1016/j.automatica.2025.112139
Jing-Zhe Xu , Zhi-Wei Liu , Ming-Feng Ge , Tao Yang , Ming Chi , Dingxin He
This paper presents a novel incremental consensus-based algorithm for solving a class of distributed optimization problems in multi-agent systems, considering input disturbances, equality constraints, and box constraints. Traditional methods rely on average consensus to maintain the satisfaction of equality constraints throughout the entire evolution process. However, in practical applications, input disturbances can disrupt these equality constraints, rendering traditional methods ineffective. To address this challenge, the proposed algorithm combines integration sliding mode control technology with the observer methodology, creating a unified framework capable of handling input disturbances and preventing the system state from deviating beyond the solution space defined by the equality and box constraints. Moreover, the proposed algorithm offers the advantage of ensuring that all agents reach the optimal solution within a predefined time frame. This settling time can be directly adjusted by modifying one or more parameters. Finally, several numerical examples are validated to demonstrate the effectiveness and performance of the proposed algorithm.
{"title":"Distributed predefined-time algorithms for optimal solution seeking in multi-agent systems subject to input disturbances","authors":"Jing-Zhe Xu , Zhi-Wei Liu , Ming-Feng Ge , Tao Yang , Ming Chi , Dingxin He","doi":"10.1016/j.automatica.2025.112139","DOIUrl":"10.1016/j.automatica.2025.112139","url":null,"abstract":"<div><div>This paper presents a novel incremental consensus-based algorithm for solving a class of distributed optimization problems in multi-agent systems, considering input disturbances, equality constraints, and box constraints. Traditional methods rely on average consensus to maintain the satisfaction of equality constraints throughout the entire evolution process. However, in practical applications, input disturbances can disrupt these equality constraints, rendering traditional methods ineffective. To address this challenge, the proposed algorithm combines integration sliding mode control technology with the observer methodology, creating a unified framework capable of handling input disturbances and preventing the system state from deviating beyond the solution space defined by the equality and box constraints. Moreover, the proposed algorithm offers the advantage of ensuring that all agents reach the optimal solution within a predefined time frame. This settling time can be directly adjusted by modifying one or more parameters. Finally, several numerical examples are validated to demonstrate the effectiveness and performance of the proposed algorithm.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112139"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130592","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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