Pub Date : 2015-12-28DOI: 10.1109/ICCAS.2015.7364925
M. C. Yoon, Jung-Su Kim, J. Back
This paper proposes a robust stabilizing control for constrained uncertain linear systems by combining a disturbance observer (DOB) and state feedback controller. To this end, a state feedback controller is designed for the nominal system and then a disturbance observer based feedforward control is added in order to reject uncertainties. In doing so, the DOB and state feedback controller are united in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are given to show that the proposed control scheme successfully stabilizes the uncertain systems.
{"title":"Robust stabilization of constrained uncertain linear systems using feedforward control based on high-gain disturbance observer","authors":"M. C. Yoon, Jung-Su Kim, J. Back","doi":"10.1109/ICCAS.2015.7364925","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364925","url":null,"abstract":"This paper proposes a robust stabilizing control for constrained uncertain linear systems by combining a disturbance observer (DOB) and state feedback controller. To this end, a state feedback controller is designed for the nominal system and then a disturbance observer based feedforward control is added in order to reject uncertainties. In doing so, the DOB and state feedback controller are united in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are given to show that the proposed control scheme successfully stabilizes the uncertain systems.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"124 1","pages":"290-294"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88082449","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.2015.7364714
Youn-Ho Choi, Du Sun, Oh-Seok Kwon
In robotic automation, resolution in the actuations of joints can be expressed as discrete one. Due to the use of angular encoders as the sensing device for joint actuation, robot movement is limited within discrete positions in its reachable workspace. The absolute accuracy of the end effector depends on the resolution of the actuated joints. It is associated with the accuracy of the work. It is necessary to analyze this situation. In this paper, we analyzed the effect on the robot's operation and its effect on the discrete resolution in its joints and links of the robot, and studied the characteristics of the approach direction and distance from the origin for joint movement with a discrete resolution.
{"title":"Analysis of precision positioning of multi-axis robot system","authors":"Youn-Ho Choi, Du Sun, Oh-Seok Kwon","doi":"10.1109/ICCAS.2015.7364714","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364714","url":null,"abstract":"In robotic automation, resolution in the actuations of joints can be expressed as discrete one. Due to the use of angular encoders as the sensing device for joint actuation, robot movement is limited within discrete positions in its reachable workspace. The absolute accuracy of the end effector depends on the resolution of the actuated joints. It is associated with the accuracy of the work. It is necessary to analyze this situation. In this paper, we analyzed the effect on the robot's operation and its effect on the discrete resolution in its joints and links of the robot, and studied the characteristics of the approach direction and distance from the origin for joint movement with a discrete resolution.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"9 1","pages":"2087-2090"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84313739","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.2015.7364983
Sangdeok Lee, Seul Jung
The lateral-balancing problem of a single-wheel based robot system has been presented. The basic configuration of the system uses the gyroscopic effect which generates the yawing force as a control input. The friction combined with yawing force enables a robot system to maintain the lateral balance. Although this horizontal configuration gives a better pitching stability to the body system, enough friction and momentum must be guaranteed to perform the successful control task. To make a power-efficient system, in this paper, rolling force-based control configuration, namely the vertical configuration is proposed. Although this configuration has a major disadvantage in its pitching instability problem, efficient power consumption can be achieved. The pitch instability suppression is suggested to improve the balancing control algorithm performance. Experimental studies confirm that the power-consumption has been dramatically reduced and the correctness of instability suppression algorithm is properly verified.
{"title":"Balancing control of a single-wheel robot considering power-efficiency and gyroscopic instability suppression","authors":"Sangdeok Lee, Seul Jung","doi":"10.1109/ICCAS.2015.7364983","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364983","url":null,"abstract":"The lateral-balancing problem of a single-wheel based robot system has been presented. The basic configuration of the system uses the gyroscopic effect which generates the yawing force as a control input. The friction combined with yawing force enables a robot system to maintain the lateral balance. Although this horizontal configuration gives a better pitching stability to the body system, enough friction and momentum must be guaranteed to perform the successful control task. To make a power-efficient system, in this paper, rolling force-based control configuration, namely the vertical configuration is proposed. Although this configuration has a major disadvantage in its pitching instability problem, efficient power consumption can be achieved. The pitch instability suppression is suggested to improve the balancing control algorithm performance. Experimental studies confirm that the power-consumption has been dramatically reduced and the correctness of instability suppression algorithm is properly verified.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"14 1","pages":"570-573"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87118791","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.2015.7364615
S. K. Kommuri, J. Rath, K. Veluvolu, M. Defoort, S. Tatinati
This paper proposes a second-order high-speed sliding mode (SHSM) observer and compares the performance with the recent higher-order sliding mode (HOSM) observer for the problem of sensorless speed estimation in the permanent magnet synchronous motor (PMSM). In which, a sigmoid function is substituted for the signum function with a variable boundary layer. A SHSM observer is proposed to provide the estimation of back electro motive forces (EMFs) that are treated as unknown inputs in the PMSM model. An accurate speed estimate of PMSM can be algebraically computed with the estimated back EMFs. The chattering phenomenon, that is commonly found in the sliding mode observers is well-reduced by replacing signum function with the sigmoid function, in comparison to the HOSM observer. Simulation results show the effectiveness of the proposed SHSM speed estimation method in comparison to the earlier HOSM observer in terms of good accuracy and chattering phenomenon.
{"title":"Performance comparison of sliding mode observers for back EMFs based speed estimation in PMSM","authors":"S. K. Kommuri, J. Rath, K. Veluvolu, M. Defoort, S. Tatinati","doi":"10.1109/ICCAS.2015.7364615","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364615","url":null,"abstract":"This paper proposes a second-order high-speed sliding mode (SHSM) observer and compares the performance with the recent higher-order sliding mode (HOSM) observer for the problem of sensorless speed estimation in the permanent magnet synchronous motor (PMSM). In which, a sigmoid function is substituted for the signum function with a variable boundary layer. A SHSM observer is proposed to provide the estimation of back electro motive forces (EMFs) that are treated as unknown inputs in the PMSM model. An accurate speed estimate of PMSM can be algebraically computed with the estimated back EMFs. The chattering phenomenon, that is commonly found in the sliding mode observers is well-reduced by replacing signum function with the sigmoid function, in comparison to the HOSM observer. Simulation results show the effectiveness of the proposed SHSM speed estimation method in comparison to the earlier HOSM observer in terms of good accuracy and chattering phenomenon.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"1612-1617"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88276883","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.2015.7364690
R. Muhamedyev, A. Mansharipova, R. Butin, E. Muhamedyeva, N. Rakhimzhanova
The article examines the main trends in the development of geriatric service on the ground of increasing capabilities of ICT. In recent years, the measures to improve geriatric care of the population are taken in the Republic of Kazakhstan. Relevance of this issue is determined by a population aging on the one hand, and by RK humanization policy on the other hand. Consideration of these issues is impossible without corresponding data support, which is necessary for organizational tasks and for the entire cycle of medical data processing, starting from data collection, through a comprehensive analysis and issue of recommendation. Using modern software, communication and intelligent technologies promises not only improving of geriatric care quality but reducing the cost and social-economic benefits. The project of multi-level distributed personified electronic system is offered. The system would be based on results of researches in the field of AAL, M2M, machine learning, human behavior analysis etc. The main domains of the system are discussed briefly. An economic impact of the system realization is estimated approximately.
{"title":"New ICT trends in solving the problem of accelerated population aging","authors":"R. Muhamedyev, A. Mansharipova, R. Butin, E. Muhamedyeva, N. Rakhimzhanova","doi":"10.1109/ICCAS.2015.7364690","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364690","url":null,"abstract":"The article examines the main trends in the development of geriatric service on the ground of increasing capabilities of ICT. In recent years, the measures to improve geriatric care of the population are taken in the Republic of Kazakhstan. Relevance of this issue is determined by a population aging on the one hand, and by RK humanization policy on the other hand. Consideration of these issues is impossible without corresponding data support, which is necessary for organizational tasks and for the entire cycle of medical data processing, starting from data collection, through a comprehensive analysis and issue of recommendation. Using modern software, communication and intelligent technologies promises not only improving of geriatric care quality but reducing the cost and social-economic benefits. The project of multi-level distributed personified electronic system is offered. The system would be based on results of researches in the field of AAL, M2M, machine learning, human behavior analysis etc. The main domains of the system are discussed briefly. An economic impact of the system realization is estimated approximately.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"16 1","pages":"1969-1973"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89057500","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.2015.7364904
A. Dehghani, H. Khodadadi
Nowadays, flexible joint robots (FJR) manipulators are widely used at industry; however, these robots have several problems. These problems are in the joint and with links. Another problem is their complex dynamics that make control of this robot have some challenges. Non-linearity, interaction between loops and flexibility in the joint cause this problem. The present paper has focused to improve the tracking performance of these robots. Therefore, at the first step, we need to use physical relations of system and determine a model for the FJR. In this paper, the Fuzzy Logic Self- Tuning PID (FLST-PID) controller will be introduced to keep the rotating angle of the link of FJR at desired position. In the classic PID forms, the parameter values of the controller i.e. Kp, Ki, Kd are calculated in many various methods like Ziegler-Nichols and are constant. In FLST-PID, the parameter values computed by intelligent methods like fuzzy logic and they vary during the controlling process. For demonstrating the ability of the proposed controller, some classic controller like PID, LQR and State Feedback will be designed for FJR and the response of the system with these controllers will be compared. Moreover, by considering some uncertainty on systems parameters, the comparison will be performed once again. Simulation results confirm the claims and show that the proposed controller has the best response for the system especially in uncertainty conditions.
{"title":"Fuzzy Logic Self-Tuning PID control for a single-link flexible joint robot manipulator in the presence of uncertainty","authors":"A. Dehghani, H. Khodadadi","doi":"10.1109/ICCAS.2015.7364904","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364904","url":null,"abstract":"Nowadays, flexible joint robots (FJR) manipulators are widely used at industry; however, these robots have several problems. These problems are in the joint and with links. Another problem is their complex dynamics that make control of this robot have some challenges. Non-linearity, interaction between loops and flexibility in the joint cause this problem. The present paper has focused to improve the tracking performance of these robots. Therefore, at the first step, we need to use physical relations of system and determine a model for the FJR. In this paper, the Fuzzy Logic Self- Tuning PID (FLST-PID) controller will be introduced to keep the rotating angle of the link of FJR at desired position. In the classic PID forms, the parameter values of the controller i.e. Kp, Ki, Kd are calculated in many various methods like Ziegler-Nichols and are constant. In FLST-PID, the parameter values computed by intelligent methods like fuzzy logic and they vary during the controlling process. For demonstrating the ability of the proposed controller, some classic controller like PID, LQR and State Feedback will be designed for FJR and the response of the system with these controllers will be compared. Moreover, by considering some uncertainty on systems parameters, the comparison will be performed once again. Simulation results confirm the claims and show that the proposed controller has the best response for the system especially in uncertainty conditions.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"186-191"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86166635","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.2015.7364918
Jea-Young Heo, InHyun Koung, Young-Uk Park, Y. Im, J. Lee
Recently, Fuel cell has attracted attention because of the wide range of applications. But, The supply of hydrogen still has a lot of problems. How supplied hydrogen is mainly used the reforming. It used gas containing CO. It gas causes poisoning of the catalyst fuel cell. Therefore, CO PROX is a necessary reaction to the fuel cell. We need to control for this reaction.
{"title":"Efficient control research in CO PROX reaction","authors":"Jea-Young Heo, InHyun Koung, Young-Uk Park, Y. Im, J. Lee","doi":"10.1109/ICCAS.2015.7364918","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364918","url":null,"abstract":"Recently, Fuel cell has attracted attention because of the wide range of applications. But, The supply of hydrogen still has a lot of problems. How supplied hydrogen is mainly used the reforming. It used gas containing CO. It gas causes poisoning of the catalyst fuel cell. Therefore, CO PROX is a necessary reaction to the fuel cell. We need to control for this reaction.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"25 1","pages":"261-263"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89767247","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.2015.7364721
Anh-Minh D. Tran, Jung-In Yun, K. Choi, C. Son, Young-Bok Kim
Energy companies today increasingly look offshore and head towards deeper waters to assist fueling modern society. Semisubmersibles and drill-ships are often used to prospect and produce in remote environments. The oil rigs should be essentially kept on target. In this paper, the authors solve the problem of designing a Position Mooring (PM) system for barge ship. A mathematical model of a system describing the interaction between an unactuated barge ship and mooring system is presented. A PID control scheme is implemented to achieve PM for the vessel by changing the tension of the mooring ropes. Additionally, a scale model ship is built to test the proposed strategy. Hydrodynamic coefficients of the low speed model for PM ship are identified by suitable experiments.
{"title":"A study on floating unit motion control strategy","authors":"Anh-Minh D. Tran, Jung-In Yun, K. Choi, C. Son, Young-Bok Kim","doi":"10.1109/ICCAS.2015.7364721","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364721","url":null,"abstract":"Energy companies today increasingly look offshore and head towards deeper waters to assist fueling modern society. Semisubmersibles and drill-ships are often used to prospect and produce in remote environments. The oil rigs should be essentially kept on target. In this paper, the authors solve the problem of designing a Position Mooring (PM) system for barge ship. A mathematical model of a system describing the interaction between an unactuated barge ship and mooring system is presented. A PID control scheme is implemented to achieve PM for the vessel by changing the tension of the mooring ropes. Additionally, a scale model ship is built to test the proposed strategy. Hydrodynamic coefficients of the low speed model for PM ship are identified by suitable experiments.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"533 1","pages":"752-757"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78161991","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.2015.7364684
B. N. M. Truong, D. Truong, N. Trung, A. K. Kwan
This paper developed a complete and accurate mathematical model for a typical variable displacement vane-type oil pump to investigate the working performance of the pump. Firstly, the detailed theoretical model was built based on pump's geometric design and dynamic analyses. Next, numerical simulations with the constructed model and experiments on the real pump system were carried out to analyze the main power loss factors in order to develop the complete model with high accuracy. The estimated pump performance using the complete pump model was finally verified by numerical simulations in comparison with the practical tests.
{"title":"Mathematical modeling of a variable displacement vane pump for engine lubrication","authors":"B. N. M. Truong, D. Truong, N. Trung, A. K. Kwan","doi":"10.1109/ICCAS.2015.7364684","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364684","url":null,"abstract":"This paper developed a complete and accurate mathematical model for a typical variable displacement vane-type oil pump to investigate the working performance of the pump. Firstly, the detailed theoretical model was built based on pump's geometric design and dynamic analyses. Next, numerical simulations with the constructed model and experiments on the real pump system were carried out to analyze the main power loss factors in order to develop the complete model with high accuracy. The estimated pump performance using the complete pump model was finally verified by numerical simulations in comparison with the practical tests.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"22 1","pages":"1946-1951"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73697077","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.2015.7364886
Amna Khan, Abdul Rehman Sair, Anas Ekram, Saad Malik, M. R. Afzal, Ali Bin Junaid, Amre Eizad
The transport of objects in a warehouse is an indispensible but time consuming task, and is therefore the focus of extensive research. This paper presents a system that autonomously retrieves boxes placed in shelves according to the part number fed in the system by the user. The system utilizes a modified implementation of the A* algorithm to determine the shortest path for retrieving the objects. A maximum of three objects can be retrieved in one round by the robot. After retrieval, the objects are delivered to a delivery station. Line tracking sensors are used for robot navigation. Telescoping arms mounted on the robot are used to retrieve objects from the shelves. The guidance algorithm and Graphic User Interface (GUI) have been implemented using MATLAB® and the robot has been designed using SolidWorks®.
{"title":"An automated object retrieval system for warehouses","authors":"Amna Khan, Abdul Rehman Sair, Anas Ekram, Saad Malik, M. R. Afzal, Ali Bin Junaid, Amre Eizad","doi":"10.1109/ICCAS.2015.7364886","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364886","url":null,"abstract":"The transport of objects in a warehouse is an indispensible but time consuming task, and is therefore the focus of extensive research. This paper presents a system that autonomously retrieves boxes placed in shelves according to the part number fed in the system by the user. The system utilizes a modified implementation of the A* algorithm to determine the shortest path for retrieving the objects. A maximum of three objects can be retrieved in one round by the robot. After retrieval, the objects are delivered to a delivery station. Line tracking sensors are used for robot navigation. Telescoping arms mounted on the robot are used to retrieve objects from the shelves. The guidance algorithm and Graphic User Interface (GUI) have been implemented using MATLAB® and the robot has been designed using SolidWorks®.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"14 1","pages":"95-100"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74020137","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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