Pub Date : 2015-12-28DOI: 10.1109/ICCAS.2015.7364597
J. Sohn, Suk Tae Seo, Sang Il Lee
Medical device industry has its own features such as, interdisciplinary nature, high-value product, regulatory barrier and specific consumer. Many Korean companies in medical device industry are mostly small and medium sized and face low profit and low R&D investment. To promote medical device industry, Korean government has launched a medical cluster projects in 2009 continuing to 2038. One of them is Medivally project located in Daegu, eastern southern to Seoul, the capital city of Korea. The Medivalley consists of core facilities and R&D centers of medical device or drug companies. The core facilities include Medical Device Development Center (MDDC), main goal of which is providing one-stop solution encompassing applied R&D support, prototyping, effectiveness evaluations etc. for whoever needs them focusing on ICT (Information Communication Technology) based high-tech medical devices.
{"title":"Medical device industry and the medical cluster in Daegu, Korea","authors":"J. Sohn, Suk Tae Seo, Sang Il Lee","doi":"10.1109/ICCAS.2015.7364597","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364597","url":null,"abstract":"Medical device industry has its own features such as, interdisciplinary nature, high-value product, regulatory barrier and specific consumer. Many Korean companies in medical device industry are mostly small and medium sized and face low profit and low R&D investment. To promote medical device industry, Korean government has launched a medical cluster projects in 2009 continuing to 2038. One of them is Medivally project located in Daegu, eastern southern to Seoul, the capital city of Korea. The Medivalley consists of core facilities and R&D centers of medical device or drug companies. The core facilities include Medical Device Development Center (MDDC), main goal of which is providing one-stop solution encompassing applied R&D support, prototyping, effectiveness evaluations etc. for whoever needs them focusing on ICT (Information Communication Technology) based high-tech medical devices.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"2007 1","pages":"1529-1531"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78649610","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364958
Min-Ho Yoon, T. Kang
The piezoelectric material is being used widely for actuators due to its large power density with simple structure. It can generate larger force than the conventional actuators with same size. Furthermore, response time of piezo actuators is very short, and thus, it can be used for very fast system applications with compact size. To control the piezoelectric actuator, we need analog signal conditioning circuits as well as digital microcontrollers. Conventional microcontrollers are not equipped with analog parts and thus the control system becomes bulky compared with the small size of the piezoelectric devices. To overcome these weaknesses, we are developing one-chip micro controller that can handle analog and digital signals simultaneously using mixed signal FPGA technology. We used the SmartFusion™ FPGA device. It gives more flexibility than traditional fixed-function microcontrollers with the excessive cost of soft processor cores on traditional FPGAs. In this paper we introduce the design of one chip controller using mixed signal FPGA, SmartFusion™[1] device. To demonstrate its performance, we implemented a PI controller for power driving circuit with piezoelectric actuator in the FPGA fabric.
{"title":"One chip controller design for actuator's power driving circuit using FPGA","authors":"Min-Ho Yoon, T. Kang","doi":"10.1109/ICCAS.2015.7364958","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364958","url":null,"abstract":"The piezoelectric material is being used widely for actuators due to its large power density with simple structure. It can generate larger force than the conventional actuators with same size. Furthermore, response time of piezo actuators is very short, and thus, it can be used for very fast system applications with compact size. To control the piezoelectric actuator, we need analog signal conditioning circuits as well as digital microcontrollers. Conventional microcontrollers are not equipped with analog parts and thus the control system becomes bulky compared with the small size of the piezoelectric devices. To overcome these weaknesses, we are developing one-chip micro controller that can handle analog and digital signals simultaneously using mixed signal FPGA technology. We used the SmartFusion™ FPGA device. It gives more flexibility than traditional fixed-function microcontrollers with the excessive cost of soft processor cores on traditional FPGAs. In this paper we introduce the design of one chip controller using mixed signal FPGA, SmartFusion™[1] device. To demonstrate its performance, we implemented a PI controller for power driving circuit with piezoelectric actuator in the FPGA fabric.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"62 1","pages":"447-451"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78952986","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7365000
Nao Shikanai, K. Hachimura
This experiment investigated the impressions and movement characteristics that observers use to perceive expressions of negative emotions in dance. Expressions of sadness, anger, fear, and disgust using movements by dancers were recorded by video cameras and a motion capture system. Observers rated words related to impressions and movements. The results of factor analyses indicated that the expressions of negative emotions in dance have particular features to each emotion. Disgust in dance was not extracted with any factors, but Sadness in dance is conveyed by the following factors: “Negative feelings,” “Contraction,” “Quietness,” and “Imbalance.” Anger in dance consists of “Intensity,” “Imbalance,” and “Direction.” Fear in dance is conveyed by “Shake,” “Extensity,” “Imbalance,” and “Acute.” Strong and frequent downward movements increased negative feeling and tended to have a greater effect on perceiving movements as expressing sadness. More tense and imbalanced movements tended to have a greater effect on perceiving anger, whereas shaking and accented movements tended to perceiving fear. Moreover negative emotional expressions had the imbalance of movements in common.
{"title":"Evaluation of impressions and movements related to negative emotional expressions in dance","authors":"Nao Shikanai, K. Hachimura","doi":"10.1109/ICCAS.2015.7365000","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7365000","url":null,"abstract":"This experiment investigated the impressions and movement characteristics that observers use to perceive expressions of negative emotions in dance. Expressions of sadness, anger, fear, and disgust using movements by dancers were recorded by video cameras and a motion capture system. Observers rated words related to impressions and movements. The results of factor analyses indicated that the expressions of negative emotions in dance have particular features to each emotion. Disgust in dance was not extracted with any factors, but Sadness in dance is conveyed by the following factors: “Negative feelings,” “Contraction,” “Quietness,” and “Imbalance.” Anger in dance consists of “Intensity,” “Imbalance,” and “Direction.” Fear in dance is conveyed by “Shake,” “Extensity,” “Imbalance,” and “Acute.” Strong and frequent downward movements increased negative feeling and tended to have a greater effect on perceiving movements as expressing sadness. More tense and imbalanced movements tended to have a greater effect on perceiving anger, whereas shaking and accented movements tended to perceiving fear. Moreover negative emotional expressions had the imbalance of movements in common.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"44 1","pages":"657-660"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74990253","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364671
Jiani Hu, Chunxiao Fan, Yue Ming
Robust dynamic gesture recognition algorithm is of great value for kinds of intelligent interactive systems. Most current researches on this field are based on trajectory time-series, which is unstable and limited. In this paper, we proposed a novel method to realize dynamic gesture recognition by analyzing the static trajectory images with Convolutional Neural Networks (CNN). First of all, a new motion-capture device named Leap Motion is used to track fingertip positions. An effective gesture spotting algorithm is applied to identify the start/end points of dynamic gestures. Then, we map the 3D fingertip coordinates to an image acquisition window frame by frame to get the corresponding trajectory images. After a series of preprocessing steps, the normalized trajectory images are fed to a CNN model. We test the performance of the proposed method on a self-built database, and experimental results show the effectiveness for dynamic gestures recognition of numbers 0-9, with the average recognition rate up to 98.8%.
{"title":"Trajectory image based dynamic gesture recognition with convolutional neural networks","authors":"Jiani Hu, Chunxiao Fan, Yue Ming","doi":"10.1109/ICCAS.2015.7364671","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364671","url":null,"abstract":"Robust dynamic gesture recognition algorithm is of great value for kinds of intelligent interactive systems. Most current researches on this field are based on trajectory time-series, which is unstable and limited. In this paper, we proposed a novel method to realize dynamic gesture recognition by analyzing the static trajectory images with Convolutional Neural Networks (CNN). First of all, a new motion-capture device named Leap Motion is used to track fingertip positions. An effective gesture spotting algorithm is applied to identify the start/end points of dynamic gestures. Then, we map the 3D fingertip coordinates to an image acquisition window frame by frame to get the corresponding trajectory images. After a series of preprocessing steps, the normalized trajectory images are fed to a CNN model. We test the performance of the proposed method on a self-built database, and experimental results show the effectiveness for dynamic gestures recognition of numbers 0-9, with the average recognition rate up to 98.8%.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"140 1","pages":"1885-1889"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74259028","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364976
Seongchan Jeong, Myunghwan Eom, Dongkyoung Chwa
This paper proposes disturbance-estimation-based hierarchical-sliding-mode tracking control method for hovercraft in the presence of wind disturbance. Both a disturbance estimator for wind disturbance that has strong uncertainty and hierarchical sliding mode tracking controller for hovercraft system are designed. This paper defines three sliding surfaces and derives all sliding surfaces converge to zero within finite time. Through the proposed method, the control performance is improved over the conventional method and compensation for the external disturbances can be possible.
{"title":"Disturbance-estimation-based hierarchical sliding mode control of hovercraft with wind disturbance","authors":"Seongchan Jeong, Myunghwan Eom, Dongkyoung Chwa","doi":"10.1109/ICCAS.2015.7364976","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364976","url":null,"abstract":"This paper proposes disturbance-estimation-based hierarchical-sliding-mode tracking control method for hovercraft in the presence of wind disturbance. Both a disturbance estimator for wind disturbance that has strong uncertainty and hierarchical sliding mode tracking controller for hovercraft system are designed. This paper defines three sliding surfaces and derives all sliding surfaces converge to zero within finite time. Through the proposed method, the control performance is improved over the conventional method and compensation for the external disturbances can be possible.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"10 1","pages":"532-537"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78179453","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364942
Bi-Ting Yu, B. Jia, Qi Wu, Yanyu Lu, Dan Huang, Shan Fu
To analyse the difficulty of flight tasks, a novel method was presented in this paper using pupil diameter of pilots. The proposed method integrated ensemble empirical mode decomposition (EEMD) and ratio of high to low frequency wavelet coefficients energy to identify pupil data under different tasks from 5 crews. Compared to the extraction method using wavelet energy entropy, the proposed method got more obvious difference between manual departure and standard instrument departure. The results indicated that the difficulty of flight tasks could be distinguished by pupil diameter of pilots.
{"title":"Identification of flight task using ensemble empirical mode decomposition based analysis method","authors":"Bi-Ting Yu, B. Jia, Qi Wu, Yanyu Lu, Dan Huang, Shan Fu","doi":"10.1109/ICCAS.2015.7364942","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364942","url":null,"abstract":"To analyse the difficulty of flight tasks, a novel method was presented in this paper using pupil diameter of pilots. The proposed method integrated ensemble empirical mode decomposition (EEMD) and ratio of high to low frequency wavelet coefficients energy to identify pupil data under different tasks from 5 crews. Compared to the extraction method using wavelet energy entropy, the proposed method got more obvious difference between manual departure and standard instrument departure. The results indicated that the difficulty of flight tasks could be distinguished by pupil diameter of pilots.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"6 1","pages":"375-379"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80384096","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364780
S. Kim, Ngoc Hoai An Nguyen
This paper investigates the stochastic stability analysis problem for a class of continuous-time semi-Markovian jump linear systems (S-MJLSs). To this end, the stability condition for S-MJLSs is first formulated in the form of two set constraints and a matrix inequality dependent on the time-varying transition rates stemming from sojourn time. And then, the sojourn-time-dependent stability condition is converted into a finite set of linear matrix inequalities (LMIs) via the use of a relaxation technique capable of considering all possible constraints associated with time-varying transition rates.
{"title":"Stochastic stability analysis of semi-Markovian jump linear systems via a relaxation technique for time-varying transition rates","authors":"S. Kim, Ngoc Hoai An Nguyen","doi":"10.1109/ICCAS.2015.7364780","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364780","url":null,"abstract":"This paper investigates the stochastic stability analysis problem for a class of continuous-time semi-Markovian jump linear systems (S-MJLSs). To this end, the stability condition for S-MJLSs is first formulated in the form of two set constraints and a matrix inequality dependent on the time-varying transition rates stemming from sojourn time. And then, the sojourn-time-dependent stability condition is converted into a finite set of linear matrix inequalities (LMIs) via the use of a relaxation technique capable of considering all possible constraints associated with time-varying transition rates.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"62 1","pages":"995-998"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80493999","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364874
Kenji Sugimoto, Lorlynn A. Mateo
This paper proposes a new scheme of on-line identification for feedforward (FF) learning control of an unknown nonlinear multi-input multi-output (MIMO) plant free of zero dynamics. This is achieved by constructing a FF controller consisting of a bank of linear approximation models for various operating points, which are discretized and called scheduler. Conventional schemes used piecewise constant/linear interpolation techniques to address the discretization. However, the accuracy of response shaping was insufficient. To improve the performance, we propose to take a basis function approach to tune the parameter of the FF controller. To verify the effectiveness of the proposed scheme, numerical simulation is carried out using the motion equation of a two-link manipulator.
{"title":"A basis function approach to scheduled locally weighted regression for on-line modeling of nonlinear dynamical systems","authors":"Kenji Sugimoto, Lorlynn A. Mateo","doi":"10.1109/ICCAS.2015.7364874","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364874","url":null,"abstract":"This paper proposes a new scheme of on-line identification for feedforward (FF) learning control of an unknown nonlinear multi-input multi-output (MIMO) plant free of zero dynamics. This is achieved by constructing a FF controller consisting of a bank of linear approximation models for various operating points, which are discretized and called scheduler. Conventional schemes used piecewise constant/linear interpolation techniques to address the discretization. However, the accuracy of response shaping was insufficient. To improve the performance, we propose to take a basis function approach to tune the parameter of the FF controller. To verify the effectiveness of the proposed scheme, numerical simulation is carried out using the motion equation of a two-link manipulator.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"14 1","pages":"30-35"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81584437","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364661
K. Huh, Darong Oh, H. Yoo, B. Song, D. Cho, Jong-Mo Seo, Sung Jae Kim
We proposed a simple microfluidic device that enabled anisotropic absorption of detoxified S.typhimurium bacteria to microcubics so that the particles can swim toward desirable direction by chemotaxis of the bacteria. The speed of the “bacteria-based microrobot” was ~5um/sec which is faster than any prior demonstrations, leading to an effective drug delivery system.
{"title":"Bacteria-based microrobot for chemotaxis delivery","authors":"K. Huh, Darong Oh, H. Yoo, B. Song, D. Cho, Jong-Mo Seo, Sung Jae Kim","doi":"10.1109/ICCAS.2015.7364661","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364661","url":null,"abstract":"We proposed a simple microfluidic device that enabled anisotropic absorption of detoxified S.typhimurium bacteria to microcubics so that the particles can swim toward desirable direction by chemotaxis of the bacteria. The speed of the “bacteria-based microrobot” was ~5um/sec which is faster than any prior demonstrations, leading to an effective drug delivery system.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"45 1","pages":"1848-1852"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89940316","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364990
Jinhong Lim, Jaehyun Yoo, H. Jin Kim
RSSI-based localization has a variety of possible applications, and the environment to obtain the required information is well-constructed in these days due to the prevalence of WiFi usage. However, it is difficult to apply this method directly to the real-world positioning, because there are several factors of uncertainty in the signal strength measurements. In this paper, it is proposed to incorporate dead-reckoning using encoder measurement only, and Kalman filter-based Gaussian Process to compensate the uncertainty. As encoder itself is not able to calibrate the accumulating error, and the measured RSSI data has a time-varying error, the defects of respective methods can be complemented by each other using Kalman filter. The performance of the proposed method is evaluated by two different simulations. The location of a mobile robot moving through the exact desired path is estimated first. Then, the result of controlling a mobile robot based on the estimated position is shown.
{"title":"A mobile robot tracking using Kalman filter-based Gaussian Process in wireless sensor networks","authors":"Jinhong Lim, Jaehyun Yoo, H. Jin Kim","doi":"10.1109/ICCAS.2015.7364990","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364990","url":null,"abstract":"RSSI-based localization has a variety of possible applications, and the environment to obtain the required information is well-constructed in these days due to the prevalence of WiFi usage. However, it is difficult to apply this method directly to the real-world positioning, because there are several factors of uncertainty in the signal strength measurements. In this paper, it is proposed to incorporate dead-reckoning using encoder measurement only, and Kalman filter-based Gaussian Process to compensate the uncertainty. As encoder itself is not able to calibrate the accumulating error, and the measured RSSI data has a time-varying error, the defects of respective methods can be complemented by each other using Kalman filter. The performance of the proposed method is evaluated by two different simulations. The location of a mobile robot moving through the exact desired path is estimated first. Then, the result of controlling a mobile robot based on the estimated position is shown.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"129 3","pages":"609-613"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91488039","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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