Pub Date : 2012-12-24DOI: 10.1109/IROS.2012.6385704
Alan R. Wagner
Psychologists note that humans regularly use categories to simplify and speed up the process of person perception [1]. The influence of categorical thinking on interpersonal expectations is commonly referred to as a stereotype. The ability to bootstrap the process of learning about a newly encountered, unknown person is critical for robots interacting in complex and dynamic social situations. This article contributes a novel cluster-based algorithm that allows a robot to create generalized models of its interactive partner. These generalized models, or stereotypes, act as a source of information for predicting the human's behavior and preferences. We show, in simulation and using real robots, that these stereotyped models of the partner can be used to bootstrap the robot's learning about the partner in spite of significant error. The results of this work have potential implications for social robotics, autonomous agents, and possibly psychology.
{"title":"Using cluster-based stereotyping to foster human-robot cooperation","authors":"Alan R. Wagner","doi":"10.1109/IROS.2012.6385704","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385704","url":null,"abstract":"Psychologists note that humans regularly use categories to simplify and speed up the process of person perception [1]. The influence of categorical thinking on interpersonal expectations is commonly referred to as a stereotype. The ability to bootstrap the process of learning about a newly encountered, unknown person is critical for robots interacting in complex and dynamic social situations. This article contributes a novel cluster-based algorithm that allows a robot to create generalized models of its interactive partner. These generalized models, or stereotypes, act as a source of information for predicting the human's behavior and preferences. We show, in simulation and using real robots, that these stereotyped models of the partner can be used to bootstrap the robot's learning about the partner in spite of significant error. The results of this work have potential implications for social robotics, autonomous agents, and possibly psychology.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"50 1","pages":"1615-1622"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74364055","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385890
L. Nalpantidis, Mårten Björkman, D. Kragic
We address the problem of object segmentation in image sequences where no a-priori knowledge of objects is assumed. We take advantage of robots' ability to move, gathering multiple images of the scene. Our approach starts by extracting edges, uses a polar domain representation and performs integration over time based on a simple dilation operation. The proposed system can be used for providing reliable initial segmentation of unknown objects in scenes of varying complexity, allowing for recognition, categorization or physical interaction with the objects. The experimental evaluation on both self-captured and a publicly available dataset shows the efficiency and stability of the proposed method.
{"title":"YES - YEt another object segmentation: Exploiting camera movement","authors":"L. Nalpantidis, Mårten Björkman, D. Kragic","doi":"10.1109/IROS.2012.6385890","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385890","url":null,"abstract":"We address the problem of object segmentation in image sequences where no a-priori knowledge of objects is assumed. We take advantage of robots' ability to move, gathering multiple images of the scene. Our approach starts by extracting edges, uses a polar domain representation and performs integration over time based on a simple dilation operation. The proposed system can be used for providing reliable initial segmentation of unknown objects in scenes of varying complexity, allowing for recognition, categorization or physical interaction with the objects. The experimental evaluation on both self-captured and a publicly available dataset shows the efficiency and stability of the proposed method.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"263 1","pages":"2116-2121"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72574774","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385990
Apoorva D. Kapadia, I. Walker, E. Tatlicioglu
In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.
{"title":"Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master","authors":"Apoorva D. Kapadia, I. Walker, E. Tatlicioglu","doi":"10.1109/IROS.2012.6385990","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385990","url":null,"abstract":"In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"36 4","pages":"3105-3110"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72632028","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385900
Jens Lambrecht, J. Krüger
The presented spatial programming system provides an assistance system for online programming of industrial robots. A handheld device and a motion tracking system establish the basis for a modular 3D programming approach corresponding to different phases of robot programming: definition, evaluation and adaption. Static and dynamic gestures enable the program definition of poses, trajectories and tasks. The spatial evaluation is done using an Augmented Reality application on a handheld device. Therefore, the programmer is able to move freely within the robot cell and define the program spatially through gestures. The camera image of the handheld is simultaneously enhanced by virtual objects representing the robot program. Based on 3D motion tracking of human movements and a mobile Augmented Reality application, we introduce a novel kind of interaction for the adaption of robot programs. The programmer is enabled to interact with virtual program components through bare-hand gestures. Such sample forms of interaction include translation and rotation applicable to poses, trajectories or tasks representations. Finally, the program is adapted according to the gestural changes and can be transferred from the handheld device directly to the robot controler.
{"title":"Spatial programming for industrial robots based on gestures and Augmented Reality","authors":"Jens Lambrecht, J. Krüger","doi":"10.1109/IROS.2012.6385900","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385900","url":null,"abstract":"The presented spatial programming system provides an assistance system for online programming of industrial robots. A handheld device and a motion tracking system establish the basis for a modular 3D programming approach corresponding to different phases of robot programming: definition, evaluation and adaption. Static and dynamic gestures enable the program definition of poses, trajectories and tasks. The spatial evaluation is done using an Augmented Reality application on a handheld device. Therefore, the programmer is able to move freely within the robot cell and define the program spatially through gestures. The camera image of the handheld is simultaneously enhanced by virtual objects representing the robot program. Based on 3D motion tracking of human movements and a mobile Augmented Reality application, we introduce a novel kind of interaction for the adaption of robot programs. The programmer is enabled to interact with virtual program components through bare-hand gestures. Such sample forms of interaction include translation and rotation applicable to poses, trajectories or tasks representations. Finally, the program is adapted according to the gestural changes and can be transferred from the handheld device directly to the robot controler.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"49 1","pages":"466-472"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74104369","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385502
Tomoaki Nakamura, T. Nagai, N. Iwahashi
The formation of categories, which constitutes the basis of developing concepts, requires multimodal information with a complex structure. We propose a model called the bag of multimodal hierarchical Dirichlet processes (BoMHDP), which enables robots to form a variety of multimodal categories. The BoMHDP model is a collection of a large number of MHDP models, each of which has a different set of weights for sensory information. The weights work to realize selective attention and enable the formation of various types of categories (e.g., object, haptic, and color). The BoMHDP model is an extension of the HDP, and categorization is unsupervised. However, categories that are not natural for humans are also formed. Therefore, only the significant categories are selected through interaction between the user and the robot. At the same time, words obtained during the interaction are connected to the categories. Finally, categories, which are represented by words, are selected. The BoMHDP model was implemented on a robot platform and a preliminary experiment was conducted to validate it. The results revealed that various categories can be formed with the BoMHDP model. We also analyzed the formed conceptual structure by using multidimensional scaling. The results indicate that the complex conceptual structure was represented reasonably well with the BoMHDP model.
{"title":"Bag of multimodal hierarchical dirichlet processes: Model of complex conceptual structure for intelligent robots","authors":"Tomoaki Nakamura, T. Nagai, N. Iwahashi","doi":"10.1109/IROS.2012.6385502","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385502","url":null,"abstract":"The formation of categories, which constitutes the basis of developing concepts, requires multimodal information with a complex structure. We propose a model called the bag of multimodal hierarchical Dirichlet processes (BoMHDP), which enables robots to form a variety of multimodal categories. The BoMHDP model is a collection of a large number of MHDP models, each of which has a different set of weights for sensory information. The weights work to realize selective attention and enable the formation of various types of categories (e.g., object, haptic, and color). The BoMHDP model is an extension of the HDP, and categorization is unsupervised. However, categories that are not natural for humans are also formed. Therefore, only the significant categories are selected through interaction between the user and the robot. At the same time, words obtained during the interaction are connected to the categories. Finally, categories, which are represented by words, are selected. The BoMHDP model was implemented on a robot platform and a preliminary experiment was conducted to validate it. The results revealed that various categories can be formed with the BoMHDP model. We also analyzed the formed conceptual structure by using multidimensional scaling. The results indicate that the complex conceptual structure was represented reasonably well with the BoMHDP model.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"365 1","pages":"3818-3823"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84910097","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 : 2012-12-24DOI: 10.1109/IROS.2012.6386152
S. F. Atashzar, I. Polushin, Rajnikant V. Patel
In master-slave teleoperator systems used for tele-rehabilitation purposes, the passivity can be violated because of the assistive actions of a therapist; moreover, any type of passivation approach to the design of such a system would defeat the purpose of the assistive therapy. In this paper, a design framework is presented that does not rely on passivity considerations. A number of results are given that deal with stability and transparency properties of the tele-rehabilitation system in the case of intrinsically non-passive behaviour of the therapist. In particular, a stabilization scheme for the networked tele-rehabilitation system is proposed which guarantees stability regardless of the specific actions of the therapist. Simulation results are presented which confirm the theoretical developments.
{"title":"Networked teleoperation with non-passive environment: Application to tele-rehabilitation","authors":"S. F. Atashzar, I. Polushin, Rajnikant V. Patel","doi":"10.1109/IROS.2012.6386152","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386152","url":null,"abstract":"In master-slave teleoperator systems used for tele-rehabilitation purposes, the passivity can be violated because of the assistive actions of a therapist; moreover, any type of passivation approach to the design of such a system would defeat the purpose of the assistive therapy. In this paper, a design framework is presented that does not rely on passivity considerations. A number of results are given that deal with stability and transparency properties of the tele-rehabilitation system in the case of intrinsically non-passive behaviour of the therapist. In particular, a stabilization scheme for the networked tele-rehabilitation system is proposed which guarantees stability regardless of the specific actions of the therapist. Simulation results are presented which confirm the theoretical developments.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"10 1","pages":"5125-5130"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84992547","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 : 2012-12-24DOI: 10.1109/IROS.2012.6386166
Toyotaka Kozuki, H. Mizoguchi, Yuki Asano, M. Osada, Takuma Shirai, Junichi Urata, Y. Nakanishi, K. Okada, M. Inaba
To design a robot with humanlike body structure, this paper presents a design methodology for a humanoid upper limb by tendon driven system. We newly designed an upper limb and rib cage like thorax for a musculoskeletal humanoid robot, based on the knowledge of anatomy. The robot consists of muscle, bone, and joint structure based on human and is expected to move flexibly and dynamically. This paper describes how to design such an upper limb and proposes the key mechanical design points, which is “rib surface thorax”, “muscle cushion”, “planar muscle”, and “open type ball joint”. To show that these mechanisms is effective in making a musculoskeletal humanoid robot, we examine the motion range of the robot. One of our goals is to enable robots to do the same movements as humans do through mimicking the human body structure, finding some important elements of human nature. This robots explained in this paper is the prototype for a new life size robot “Kenshiro” project.
{"title":"Design methodology for the thorax and shoulder of human mimetic musculoskeletal humanoid Kenshiro -a thorax structure with rib like surface -","authors":"Toyotaka Kozuki, H. Mizoguchi, Yuki Asano, M. Osada, Takuma Shirai, Junichi Urata, Y. Nakanishi, K. Okada, M. Inaba","doi":"10.1109/IROS.2012.6386166","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386166","url":null,"abstract":"To design a robot with humanlike body structure, this paper presents a design methodology for a humanoid upper limb by tendon driven system. We newly designed an upper limb and rib cage like thorax for a musculoskeletal humanoid robot, based on the knowledge of anatomy. The robot consists of muscle, bone, and joint structure based on human and is expected to move flexibly and dynamically. This paper describes how to design such an upper limb and proposes the key mechanical design points, which is “rib surface thorax”, “muscle cushion”, “planar muscle”, and “open type ball joint”. To show that these mechanisms is effective in making a musculoskeletal humanoid robot, we examine the motion range of the robot. One of our goals is to enable robots to do the same movements as humans do through mimicking the human body structure, finding some important elements of human nature. This robots explained in this paper is the prototype for a new life size robot “Kenshiro” project.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"55 1","pages":"3687-3692"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85217261","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 : 2012-12-24DOI: 10.1109/IROS.2012.6386031
Hiroharu Kato, T. Harada, Y. Kuniyoshi
We propose a novel method of visual anomaly detection for mobile robots in daily real-life settings. Visual anomaly detection using mobile robots is important for security systems or simply for gathering information. However, this task is challenging for two reasons. First, because the number of observed images sampled at the same location is small, anomaly detection systems cannot use standard statistical methods. Second, anomalies must be detected in the presence of other continuous, ambient changes in the visual scene, such as changes in lighting from morning to night. Regarding the former problem, we develop and apply an analysis-by-synthesis-based anomaly detection method for mobile robots. For the latter, we propose a novel definition of anomaly that uses observed samples at other locations to filter out ambient changes that should be ignored by the system. Experimental results demonstrate that our method can detect anomalies from small samples in the presence of ambient changes, which could not be detected by conventional methods.
{"title":"Visual anomaly detection from small samples for mobile robots","authors":"Hiroharu Kato, T. Harada, Y. Kuniyoshi","doi":"10.1109/IROS.2012.6386031","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386031","url":null,"abstract":"We propose a novel method of visual anomaly detection for mobile robots in daily real-life settings. Visual anomaly detection using mobile robots is important for security systems or simply for gathering information. However, this task is challenging for two reasons. First, because the number of observed images sampled at the same location is small, anomaly detection systems cannot use standard statistical methods. Second, anomalies must be detected in the presence of other continuous, ambient changes in the visual scene, such as changes in lighting from morning to night. Regarding the former problem, we develop and apply an analysis-by-synthesis-based anomaly detection method for mobile robots. For the latter, we propose a novel definition of anomaly that uses observed samples at other locations to filter out ambient changes that should be ignored by the system. Experimental results demonstrate that our method can detect anomalies from small samples in the presence of ambient changes, which could not be detected by conventional methods.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"11 1","pages":"3171-3178"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82155104","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 : 2012-12-24DOI: 10.1109/IROS.2012.6385584
J. Steckel, A. Boen, H. Peremans
We describe how, by combining broadband beamforming with a sparse, random array of receivers, we have constructed a low-cost, yet powerful, in-air sonar system which is suited for a wide range of robotic applications. In particular, we show how simple array beamforming techniques allow for the generation of 3D spatial filters that can be used to accurately localize objects in a large field of view without the need for mechanical scanning. Experimental validation of the sensor's capacity to produce 3D location measurements in the presence of multiple highly overlapping echoes is presented.
{"title":"A sonar system using a sparse broadband 3D array for robotic applications","authors":"J. Steckel, A. Boen, H. Peremans","doi":"10.1109/IROS.2012.6385584","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385584","url":null,"abstract":"We describe how, by combining broadband beamforming with a sparse, random array of receivers, we have constructed a low-cost, yet powerful, in-air sonar system which is suited for a wide range of robotic applications. In particular, we show how simple array beamforming techniques allow for the generation of 3D spatial filters that can be used to accurately localize objects in a large field of view without the need for mechanical scanning. Experimental validation of the sensor's capacity to produce 3D location measurements in the presence of multiple highly overlapping echoes is presented.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"103 1","pages":"3223-3228"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79434602","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 : 2012-12-24DOI: 10.1109/IROS.2012.6386078
H. Arisumi, M. Otsuki, S. Nishida
Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a mechanism of a casting manipulator system and control method to launch a penetrator to the desired position. First, we discuss launching methods, and focus on a method by using rotation of a boom. We then propose the mechanism that keeps a posture of the penetrator equipped at the tip of the boom constant for the absolute coordinate system during its rotation. This mechanism prevents the wire which connects the penetrator and the robot's base from winding the boom. Analyzing a position error of landing point caused by delay of releasing the penetrator, we propose the motion control of the boom to reduce the error. Finally, we develop the system and verify the effectiveness of the proposed method through experiment.
{"title":"Launching penetrator by casting manipulator system","authors":"H. Arisumi, M. Otsuki, S. Nishida","doi":"10.1109/IROS.2012.6386078","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386078","url":null,"abstract":"Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a mechanism of a casting manipulator system and control method to launch a penetrator to the desired position. First, we discuss launching methods, and focus on a method by using rotation of a boom. We then propose the mechanism that keeps a posture of the penetrator equipped at the tip of the boom constant for the absolute coordinate system during its rotation. This mechanism prevents the wire which connects the penetrator and the robot's base from winding the boom. Analyzing a position error of landing point caused by delay of releasing the penetrator, we propose the motion control of the boom to reduce the error. Finally, we develop the system and verify the effectiveness of the proposed method through experiment.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"131 1","pages":"5052-5058"},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79620712","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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