Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606133
Jidong Jin, Yufan Zheng
This work studies the necessary and sufficient condition for a class of affine multi-agent system under time varying directed network. A notion called ∞-adjoin graph of time-varying network, whose properties will be used as the criterion of system achieving consensus, is initiated. By a decomposition on ∞-adjoin graph of the time-varying directed network, the system may consist of several independent basic components and non-independent basic components of the system. Based on this composition and some assumptions on the system, we provided the necessary and sufficient condition for achieving consensus of systems. This work extends and modifies the results given in our previous paper[15].
{"title":"Necessary and sufficient condition of consensus for affine multi-agent cooperative systems under time-varying directed networks","authors":"Jidong Jin, Yufan Zheng","doi":"10.1109/ASCC.2013.6606133","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606133","url":null,"abstract":"This work studies the necessary and sufficient condition for a class of affine multi-agent system under time varying directed network. A notion called ∞-adjoin graph of time-varying network, whose properties will be used as the criterion of system achieving consensus, is initiated. By a decomposition on ∞-adjoin graph of the time-varying directed network, the system may consist of several independent basic components and non-independent basic components of the system. Based on this composition and some assumptions on the system, we provided the necessary and sufficient condition for achieving consensus of systems. This work extends and modifies the results given in our previous paper[15].","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"113 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76669610","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606100
Ali Akpek, C. Youn, T. Kagawa
In viscosity measurement, temperature control is very important. In this research, temperature distribution effect of vibrational viscometers was analyzed. Vibrational viscometer was designated amongst other viscometer types due to inexpensiveness, handiness and efficacious continuous viscosity measurement capability. The research was conducted in three parts. In the first part; heat generation problem of boundary layers of oscillators of vibrational viscometers was analyzed. Experiments prove that due to the friction between the oscillators and the fluids, heat is generated from the vibrational boundary layer of the oscillators. In the second part, unequal temperature distribution problem of vibrational viscometers was analyzed. When heater generates heat during continuous viscosity measurement, temperature disperses every part of a fluid and affects the viscosity of the fluid. Therefore, it may not be possible to acquire a homogenous viscosity value from a fluid since temperature distribution cannot be equal at every point of a standard fluid. Experimental outcomes and mathematical calculations have also strengthened this conclusion. In the last part of the research, in order to solve the unequal temperature distribution problem, it is proposed to utilize a magnetic stirrer which will mix up the fluid throughout the viscosity measurement and constitute homogenous temperature.
{"title":"Temperature measurement control problem of vibrational viscometers considering heat generation and heat transfer effect of oscillators","authors":"Ali Akpek, C. Youn, T. Kagawa","doi":"10.1109/ASCC.2013.6606100","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606100","url":null,"abstract":"In viscosity measurement, temperature control is very important. In this research, temperature distribution effect of vibrational viscometers was analyzed. Vibrational viscometer was designated amongst other viscometer types due to inexpensiveness, handiness and efficacious continuous viscosity measurement capability. The research was conducted in three parts. In the first part; heat generation problem of boundary layers of oscillators of vibrational viscometers was analyzed. Experiments prove that due to the friction between the oscillators and the fluids, heat is generated from the vibrational boundary layer of the oscillators. In the second part, unequal temperature distribution problem of vibrational viscometers was analyzed. When heater generates heat during continuous viscosity measurement, temperature disperses every part of a fluid and affects the viscosity of the fluid. Therefore, it may not be possible to acquire a homogenous viscosity value from a fluid since temperature distribution cannot be equal at every point of a standard fluid. Experimental outcomes and mathematical calculations have also strengthened this conclusion. In the last part of the research, in order to solve the unequal temperature distribution problem, it is proposed to utilize a magnetic stirrer which will mix up the fluid throughout the viscosity measurement and constitute homogenous temperature.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"29 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78556377","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606173
Z. Ding
This paper deals with consensus control of a class nonlinear systems with Lipschitz nonlinearities. Certain features of the Laplacian matrix are further explored to identify conditions for global consensus control. Under the identified conditions, consensus control and stability of the proposed control are analyzed in time-domain through Lyapunov functions. The proposed control uses relative state information of the system. A simulation study is included to demonstrate the proposed control designs with some simulation results shown.
{"title":"Consensus control of a class of nonlinear systems","authors":"Z. Ding","doi":"10.1109/ASCC.2013.6606173","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606173","url":null,"abstract":"This paper deals with consensus control of a class nonlinear systems with Lipschitz nonlinearities. Certain features of the Laplacian matrix are further explored to identify conditions for global consensus control. Under the identified conditions, consensus control and stability of the proposed control are analyzed in time-domain through Lyapunov functions. The proposed control uses relative state information of the system. A simulation study is included to demonstrate the proposed control designs with some simulation results shown.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"31 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75561267","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606267
Xiaoli Li, Shuguang Zhao, Haiqin Xu
This paper deals with the discrete-time connected coverage problem with the constraint that each robot of group can only sense and communicate in the local range. In such distributed framework, the algebraic parameter of connectivity, that is, the second smallest eigenvalue of topology Laplacian, is estimated by introducing the minimal-time consensus algorithm to guarantee the high cooperation efficiency. Since no certain edges are imposed to be preserved, the method of keeping the second smallest eigenvalue positive reserves a sufficient degree of freedom for the motion of robots in the connected group. Furthermore, a self-deployment algorithm is developed to disperse the robots with the precondition that the resulting second smallest eigenvalue keeps positive at each time-step. At last, we prove that the proposed algorithm steers each pair of neighbor robots to reach the largest objective distance from each other. It implies that the distributed optimal coverage is achieved under the connectivity constraint.
{"title":"Cooperative coverage of mobile robots with distributed estimation and control of connectivity","authors":"Xiaoli Li, Shuguang Zhao, Haiqin Xu","doi":"10.1109/ASCC.2013.6606267","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606267","url":null,"abstract":"This paper deals with the discrete-time connected coverage problem with the constraint that each robot of group can only sense and communicate in the local range. In such distributed framework, the algebraic parameter of connectivity, that is, the second smallest eigenvalue of topology Laplacian, is estimated by introducing the minimal-time consensus algorithm to guarantee the high cooperation efficiency. Since no certain edges are imposed to be preserved, the method of keeping the second smallest eigenvalue positive reserves a sufficient degree of freedom for the motion of robots in the connected group. Furthermore, a self-deployment algorithm is developed to disperse the robots with the precondition that the resulting second smallest eigenvalue keeps positive at each time-step. At last, we prove that the proposed algorithm steers each pair of neighbor robots to reach the largest objective distance from each other. It implies that the distributed optimal coverage is achieved under the connectivity constraint.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"45 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73057521","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606110
M. Sen, S. Alonso-Quesada, A. Ibeas
This paper studies the asymptotic hyperstability of switched time-varying dynamic systems. The system is subject to switching actions among linear time-invariant parameterizations in the feed-forward loop for any feedback regulator controller. Moreover, such controllers can be also subject to switching through time while being within a class which satisfies a Popov's-type integral inequality. Asymptotic hyperstability is proven to be achievable under very generic switching laws if (i) at least one of the feed-forward parameterization possesses a strictly positive real transfer function, (ii) a minimum residence time interval is respected for each activation time interval of such a parameterization and (iii) a maximum allowable residence time interval is simultaneously maintained for all active parameterization which are not positive real, if any.
{"title":"Hyperstability analysis of switched systems subject to integral popovian constraints","authors":"M. Sen, S. Alonso-Quesada, A. Ibeas","doi":"10.1109/ASCC.2013.6606110","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606110","url":null,"abstract":"This paper studies the asymptotic hyperstability of switched time-varying dynamic systems. The system is subject to switching actions among linear time-invariant parameterizations in the feed-forward loop for any feedback regulator controller. Moreover, such controllers can be also subject to switching through time while being within a class which satisfies a Popov's-type integral inequality. Asymptotic hyperstability is proven to be achievable under very generic switching laws if (i) at least one of the feed-forward parameterization possesses a strictly positive real transfer function, (ii) a minimum residence time interval is respected for each activation time interval of such a parameterization and (iii) a maximum allowable residence time interval is simultaneously maintained for all active parameterization which are not positive real, if any.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"39 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76250529","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606182
Ting-Kuo Wang, L. Fu
To increase the probability of destroying a maneuvering target (e.g. ballistic missile), a framework of multi-missiles interception is presented in this paper. Each intercepting missile is equipped with an IR Image seeker which can provide excellent stealth ability during its course of tracking the ballistic missile. Such intelligent ranging system integrates the Interacting Multiple Model (IMM) technique and the concept of reachable set to find the optimal interception results by minimizing the energy of pursuing the maneuvering target. The proposed guidance law of every missile interceptor is designed based on pursuit and evasion game theory while considering the motion of the target in 3-D space such that the distance between the missiles and the target is minimized. Finally, extensive computer simulations have been conducted to validate the performance of the proposed system.
{"title":"A guidance strategy for multi-player pursuit and evasion game in maneuvering target interception","authors":"Ting-Kuo Wang, L. Fu","doi":"10.1109/ASCC.2013.6606182","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606182","url":null,"abstract":"To increase the probability of destroying a maneuvering target (e.g. ballistic missile), a framework of multi-missiles interception is presented in this paper. Each intercepting missile is equipped with an IR Image seeker which can provide excellent stealth ability during its course of tracking the ballistic missile. Such intelligent ranging system integrates the Interacting Multiple Model (IMM) technique and the concept of reachable set to find the optimal interception results by minimizing the energy of pursuing the maneuvering target. The proposed guidance law of every missile interceptor is designed based on pursuit and evasion game theory while considering the motion of the target in 3-D space such that the distance between the missiles and the target is minimized. Finally, extensive computer simulations have been conducted to validate the performance of the proposed system.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"62 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74802412","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606180
Gholamreza Khademi, Hanieh Mohammadi, M. Dehghani
One usual method to solve the model order reduction problem is to minimize the H∞-norm of the difference between the transfer function of the original system and the reduced one. In many papers, the minimization problem is solved using the Linear Matrix Inequality (LMI) approach. This paper deals with defining an extra matrix inequality constraint to guaranty that the minimum phase characteristic of the system preserves after order reduction. To overcome this, poles and zeros of the reduced system transfer function must be at Left-Half Plane (LHP). It is very easy to apply a LMI condition to force the poles of the system to be at LHP. However, the same cannot be applied to zeroes easily. Thus, a special state-space realization of the system is introduced in a way to apply conditions on zeros of the reduced system. The method is applied to some sample example and the simulation results verify the performance of the proposed method.
{"title":"LMI based model order reduction considering the minimum phase characteristic of the system","authors":"Gholamreza Khademi, Hanieh Mohammadi, M. Dehghani","doi":"10.1109/ASCC.2013.6606180","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606180","url":null,"abstract":"One usual method to solve the model order reduction problem is to minimize the H∞-norm of the difference between the transfer function of the original system and the reduced one. In many papers, the minimization problem is solved using the Linear Matrix Inequality (LMI) approach. This paper deals with defining an extra matrix inequality constraint to guaranty that the minimum phase characteristic of the system preserves after order reduction. To overcome this, poles and zeros of the reduced system transfer function must be at Left-Half Plane (LHP). It is very easy to apply a LMI condition to force the poles of the system to be at LHP. However, the same cannot be applied to zeroes easily. Thus, a special state-space realization of the system is introduced in a way to apply conditions on zeros of the reduced system. The method is applied to some sample example and the simulation results verify the performance of the proposed method.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"9 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74830375","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606103
A. Savkin, Zhiyu Xi, Hung T. Nguyen
The paper introduces the problems of encircling coverage and termination of a moving a deformable planar region by a mobile sensor/actuator network. We propose a decentralized randomized algorithm for self-deployment of a network of mobile robotic sensors/actuators for these problems. In the encircling coverage problem, the aim is to deploy sensors around a bounded connected region so that any point of a certain neighbourhood of the region is sensed by at least one mobile robotic sensor. In the termination problem, the aim is to terminate a moving region that may represent an oil spill or a hazardous chemical field. In this case, the moving robots are equipped with not only sensors but with actuators releasing neutralizing chemical so that the shape of the polluted region is controlled. The proposed algorithm is based only on information about the closest neighbours of each sensor. The moving region is of an arbitrary shape and not known to the sensors a priori. We give mathematically rigorous proofs of asymptotic optimality and convergence with probability 1 of the proposed randomized algorithm.
{"title":"An algorithm of decentralized encircling coverage and termination of a moving deformable region by mobile robotic sensor/actuator networks","authors":"A. Savkin, Zhiyu Xi, Hung T. Nguyen","doi":"10.1109/ASCC.2013.6606103","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606103","url":null,"abstract":"The paper introduces the problems of encircling coverage and termination of a moving a deformable planar region by a mobile sensor/actuator network. We propose a decentralized randomized algorithm for self-deployment of a network of mobile robotic sensors/actuators for these problems. In the encircling coverage problem, the aim is to deploy sensors around a bounded connected region so that any point of a certain neighbourhood of the region is sensed by at least one mobile robotic sensor. In the termination problem, the aim is to terminate a moving region that may represent an oil spill or a hazardous chemical field. In this case, the moving robots are equipped with not only sensors but with actuators releasing neutralizing chemical so that the shape of the polluted region is controlled. The proposed algorithm is based only on information about the closest neighbours of each sensor. The moving region is of an arbitrary shape and not known to the sensors a priori. We give mathematically rigorous proofs of asymptotic optimality and convergence with probability 1 of the proposed randomized algorithm.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"30 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74308209","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606337
Wenxiao Zhao, Han-Fu Chen, E. Bai, Kang Li
We consider the local order estimation of non-parametric nonlinear autoregressive systems with exogenous inputs (NARX), which may have different local dimensions at different points of interest. By minimizing the kernel-based local information criterion introduced in the paper, the strongly consistent estimates for the local orders of the NARX system at of interest points are obtained. The theoretical result derived here is tested by a simulation example.
{"title":"A local information criterion for order identification of nonlinear ARX systems","authors":"Wenxiao Zhao, Han-Fu Chen, E. Bai, Kang Li","doi":"10.1109/ASCC.2013.6606337","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606337","url":null,"abstract":"We consider the local order estimation of non-parametric nonlinear autoregressive systems with exogenous inputs (NARX), which may have different local dimensions at different points of interest. By minimizing the kernel-based local information criterion introduced in the paper, the strongly consistent estimates for the local orders of the NARX system at of interest points are obtained. The theoretical result derived here is tested by a simulation example.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"31 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74404733","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606254
M. Yacoub, D. Necsulescu, J. Sasiadek
As the demand for field mobile robots in off-road operations increased, the need to investigate the 3D motion for mobile robots became important. One of the main difficulties in the 3D motion of a mobile robot is the torque saturation of the DC motors of the wheels that occurs while climbing hills. In the present work, off-road conditions are utilized to benefit by avoiding torque saturation. Energy optimization algorithm using predictive control is implemented on a two-DC motor-driven wheels mobile robot while crossing a ditch. The developed algorithm is simulated and compared with the PID control and the open-loop control. The predictive control showed more capability to avoid torque saturation and noticeable reduction in the energy consumption. Furthermore, using the wheels motors armature current instead of the supply voltage as control variable in the predictive control showed more robust speed control. Simulation results showed that in case of knowing the ditch dimensions ahead of time, the developed algorithm is feasible.
{"title":"Energy consumption optimization for mobile robots in three-dimension motion using predictive control","authors":"M. Yacoub, D. Necsulescu, J. Sasiadek","doi":"10.1109/ASCC.2013.6606254","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606254","url":null,"abstract":"As the demand for field mobile robots in off-road operations increased, the need to investigate the 3D motion for mobile robots became important. One of the main difficulties in the 3D motion of a mobile robot is the torque saturation of the DC motors of the wheels that occurs while climbing hills. In the present work, off-road conditions are utilized to benefit by avoiding torque saturation. Energy optimization algorithm using predictive control is implemented on a two-DC motor-driven wheels mobile robot while crossing a ditch. The developed algorithm is simulated and compared with the PID control and the open-loop control. The predictive control showed more capability to avoid torque saturation and noticeable reduction in the energy consumption. Furthermore, using the wheels motors armature current instead of the supply voltage as control variable in the predictive control showed more robust speed control. Simulation results showed that in case of knowing the ditch dimensions ahead of time, the developed algorithm is feasible.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"1 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84479551","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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