Pub Date : 2020-09-01DOI: 10.11591/IJRA.V9I3.PP190-195
K. Lenin
In this work, Air Cloud (AC) algorithm is used to solve the optimal reactive power problem. Clouds shape in numerous ways. Convective clouds are created when moist air is warmed and expand into floating. Air raises haulage water vapour and within it expands and gets cooled as it goes. As the temperature and pressure of the air diminish, its saturation point – the equilibrium level of evaporation and condensation – is reduced. Every is one cloud droplet, and qualitative characteristic of one cloud is explained by the three digital character (Ex, En, He) , droplets number n, where Ex (Expected value), En (Entropy) and He (Hyper entropy) of one cloud determine centre position of cloud, cover range of cloud and thickness of cloud equally. Projected Air Cloud (AC) algorithm has been tested in standard IEEE 14, 57, 300 bus systems and simulations results show the better performance of the proposed algorithm in reducing the real power loss.
{"title":"Air cloud algorithm for diminution of active power loss","authors":"K. Lenin","doi":"10.11591/IJRA.V9I3.PP190-195","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP190-195","url":null,"abstract":"In this work, Air Cloud (AC) algorithm is used to solve the optimal reactive power problem. Clouds shape in numerous ways. Convective clouds are created when moist air is warmed and expand into floating. Air raises haulage water vapour and within it expands and gets cooled as it goes. As the temperature and pressure of the air diminish, its saturation point – the equilibrium level of evaporation and condensation – is reduced. Every is one cloud droplet, and qualitative characteristic of one cloud is explained by the three digital character (Ex, En, He) , droplets number n, where Ex (Expected value), En (Entropy) and He (Hyper entropy) of one cloud determine centre position of cloud, cover range of cloud and thickness of cloud equally. Projected Air Cloud (AC) algorithm has been tested in standard IEEE 14, 57, 300 bus systems and simulations results show the better performance of the proposed algorithm in reducing the real power loss.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"190-195"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44134004","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 : 2020-09-01DOI: 10.11591/IJRA.V9I3.PP171-177
H. Shousha, A. Kotb
As there is no system driven especially for the two-phase induction motor fed from unbalanced two-phase supply yet, so we start for derivation the system equations for the said motor to be generally used even for the balanced or unbalanced two-phase supply. In this paper, we will derive a system equation starting from the sequence equivalent circuit for the forward and backwards equivalent circuits, then we will re-arrange the equations with some mathematical assumptions which will lead us to the new system equations. first for the voltage equations then for the current equations and finally for both power and torque equations. Moreover, we will put an example which will cover all cases with specific values and relations charts.
{"title":"Deriving the system equations of unbalanced two-phase induction motor","authors":"H. Shousha, A. Kotb","doi":"10.11591/IJRA.V9I3.PP171-177","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP171-177","url":null,"abstract":"As there is no system driven especially for the two-phase induction motor fed from unbalanced two-phase supply yet, so we start for derivation the system equations for the said motor to be generally used even for the balanced or unbalanced two-phase supply. In this paper, we will derive a system equation starting from the sequence equivalent circuit for the forward and backwards equivalent circuits, then we will re-arrange the equations with some mathematical assumptions which will lead us to the new system equations. first for the voltage equations then for the current equations and finally for both power and torque equations. Moreover, we will put an example which will cover all cases with specific values and relations charts.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"171-177"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41589232","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 : 2020-09-01DOI: 10.11591/ijra.v9i3.pp211-219
Hosam Alamleh, A. A. AlQahtani
Mobile devices can sense different types of radio signals. For example, broadcast signals. These broadcasted signals allow the device to establish a connection to the access point broadcasting it. Moreover, mobile devices can record different physical layer measurements. These measurements are an indication of the service quality at the point they were collected. These measurements data can be aggregated to form physical layer measurement maps. These maps are useful for several applications such as location fixing, navigation, access control, and evaluating network coverage and performance. In this paper, we propose a method to build physical layer measurements maps by crowdsourcing physical layer measurements, GPS locations, from participating mobile devices. The proposed system gives different weights to each data point provided by the participating devices based on the data source's trustworthiness. Our tests showed that the different models of mobile devices return GPS location with different location accuracies. Consequently, when building the RSS maps our algorithm assigns a higher weight to data points coming from devices with higher GPS location accuracy. This allows accommodating a wide range of mobile devices with different capabilities in crowdsourcing applications. Crowdsourcing; physical layer Measurments; Maps; GPS
{"title":"A weighting system to build physical layer measurements maps by crowdsourcing data from smartphones","authors":"Hosam Alamleh, A. A. AlQahtani","doi":"10.11591/ijra.v9i3.pp211-219","DOIUrl":"https://doi.org/10.11591/ijra.v9i3.pp211-219","url":null,"abstract":"Mobile devices can sense different types of radio signals. For example, broadcast signals. These broadcasted signals allow the device to establish a connection to the access point broadcasting it. Moreover, mobile devices can record different physical layer measurements. These measurements are an indication of the service quality at the point they were collected. These measurements data can be aggregated to form physical layer measurement maps. These maps are useful for several applications such as location fixing, navigation, access control, and evaluating network coverage and performance. In this paper, we propose a method to build physical layer measurements maps by crowdsourcing physical layer measurements, GPS locations, from participating mobile devices. The proposed system gives different weights to each data point provided by the participating devices based on the data source's trustworthiness. Our tests showed that the different models of mobile devices return GPS location with different location accuracies. Consequently, when building the RSS maps our algorithm assigns a higher weight to data points coming from devices with higher GPS location accuracy. This allows accommodating a wide range of mobile devices with different capabilities in crowdsourcing applications. Crowdsourcing; physical layer Measurments; Maps; GPS","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"211-219"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44605862","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 : 2020-09-01DOI: 10.11591/IJRA.V9I3.PP220-232
Angel Gil, J. Aguilar, E. Dapena, R. Rivas
This article describes an emotional model for a general-purpose robot operating in a multi-robot system with emergent behavior. The model considers four basic emotions: anger, rejection, sadness and joy, plus a neutral emotional state, which affect the behavior of the robot, both individually and collectively. The emotional state of each robot in the system is constructed through the conjunction of a series of factors related to their individual and collective actions, which are: safety, load, acting and interaction, which serve as input to an emotional process that results in an index of satisfaction of the robot that establishes the emotional state in which it is in a certain moment. The emotional state of a robot influences its interactions with the other robots and with the environment, that is, it determines its emergent behavior in the system. This paper presents the design of this model, and establishes some considerations for its implementation.
{"title":"Emotional model for a multi-robot system with emergent behavior","authors":"Angel Gil, J. Aguilar, E. Dapena, R. Rivas","doi":"10.11591/IJRA.V9I3.PP220-232","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP220-232","url":null,"abstract":"This article describes an emotional model for a general-purpose robot operating in a multi-robot system with emergent behavior. The model considers four basic emotions: anger, rejection, sadness and joy, plus a neutral emotional state, which affect the behavior of the robot, both individually and collectively. The emotional state of each robot in the system is constructed through the conjunction of a series of factors related to their individual and collective actions, which are: safety, load, acting and interaction, which serve as input to an emotional process that results in an index of satisfaction of the robot that establishes the emotional state in which it is in a certain moment. The emotional state of a robot influences its interactions with the other robots and with the environment, that is, it determines its emergent behavior in the system. This paper presents the design of this model, and establishes some considerations for its implementation.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"220-232"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46990643","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 : 2020-09-01DOI: 10.11591/IJRA.V9I3.PP153-159
Javier Dario Sanjuan De Caro, M. Rahman, Ivan Rulik
Dobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed-loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot.
{"title":"Forward kinematic analysis of Dobot using closed-loop method","authors":"Javier Dario Sanjuan De Caro, M. Rahman, Ivan Rulik","doi":"10.11591/IJRA.V9I3.PP153-159","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP153-159","url":null,"abstract":"Dobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed-loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"153-159"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45431109","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}
Developing robot control systems can get complex even for small number of functions to be carried by the robot. Finite state machines are representing a frequent approach to model complex systems in a formal way. In this paper we are presenting a methodology for modelling the kinematics of a robotic mechanism represented by a sequence of bodies linked by joints. Each movement is decomposed as a sequence of rotations and translations and a finite state machine modelling the behavior of each of these is built. The general methodology is applied on a case study: A 2 joints manipulator. An Event-B model of each machine is implemented in the Rodin platform, then the models are validated and some LTL properties corresponding to the behavior of the robot are verified using ProB, the associated model checker.
{"title":"On Model Checking of a Robotic Mechanism","authors":"Turcanu Adrian, Shaikh Talal, Mazilu Cristina Nicoleta","doi":"10.36959/673/366","DOIUrl":"https://doi.org/10.36959/673/366","url":null,"abstract":"Developing robot control systems can get complex even for small number of functions to be carried by the robot. Finite state machines are representing a frequent approach to model complex systems in a formal way. In this paper we are presenting a methodology for modelling the kinematics of a robotic mechanism represented by a sequence of bodies linked by joints. Each movement is decomposed as a sequence of rotations and translations and a finite state machine modelling the behavior of each of these is built. The general methodology is applied on a case study: A 2 joints manipulator. An Event-B model of each machine is implemented in the Rodin platform, then the models are validated and some LTL properties corresponding to the behavior of the robot are verified using ProB, the associated model checker.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46889192","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}
Shaikha F Abdulmajeed, Khaled S Al-Kaabi, Mohammad I. Awad, D. Gan, K. Khalaf
Despite its inherent complexity and wide dynamic variability, healthy human gait is distinguished by smoothness, stability and flexibility with minimal energy consumption.
尽管其固有的复杂性和广泛的动态变异性，健康的人类步态的特点是平滑，稳定和灵活性，以最小的能量消耗。
{"title":"Modeling, Simulation and Proof-of-Concept of an Augmentation Ankle Exoskeleton with a Manually-Selected Variable Stiffness Mechanism","authors":"Shaikha F Abdulmajeed, Khaled S Al-Kaabi, Mohammad I. Awad, D. Gan, K. Khalaf","doi":"10.17352/ara.000004","DOIUrl":"https://doi.org/10.17352/ara.000004","url":null,"abstract":"Despite its inherent complexity and wide dynamic variability, healthy human gait is distinguished by smoothness, stability and flexibility with minimal energy consumption.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"4 1","pages":"013-017"},"PeriodicalIF":0.0,"publicationDate":"2020-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47146079","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 : 2020-08-05DOI: 10.33093/ijoras.2020.2.3
C. Toa, K. S. Sim, Y. Chan
Latex gloves are seen as an indispensable item in the healthcare field because it offers superior protection for both the medical staff and patient against harmful substances. However, latex gloves with high protein concentration have a high possibility to induce latex allergy which in the worst case can lead to a life-threatening condition. To minimize the occurrence of an allergy reaction, the computerized Biocompatibility Morphological Mean (BMM) test for protein detection is proposed. This test initially goes through the chemical process to determine the protein that resides in the glove sample. After that, the sample is electronically converted into a digital image. Finally, the image undergoes color image processing for calculating the color difference values. These values are then plotted on a standard curve. A high correlation coefficient (R2>0.97) of the standard curve gives better accuracies. The proposed method only takes about 40 minutes to complete the test, while existing methods need at least 6 hours.
{"title":"Protein Concentration Determination in Latex Glove Using Biocompatibility Morphological Mean Test","authors":"C. Toa, K. S. Sim, Y. Chan","doi":"10.33093/ijoras.2020.2.3","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.3","url":null,"abstract":"Latex gloves are seen as an indispensable item in the healthcare field because it offers superior protection for both the medical staff and patient against harmful substances. However, latex gloves with high protein concentration have a high possibility to induce latex allergy which in the worst case can lead to a life-threatening condition. To minimize the occurrence of an allergy reaction, the computerized Biocompatibility Morphological Mean (BMM) test for protein detection is proposed. This test initially goes through the chemical process to determine the protein that resides in the glove sample. After that, the sample is electronically converted into a digital image. Finally, the image undergoes color image processing for calculating the color difference values. These values are then plotted on a standard curve. A high correlation coefficient (R2>0.97) of the standard curve gives better accuracies. The proposed method only takes about 40 minutes to complete the test, while existing methods need at least 6 hours.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"18-24"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45179097","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 : 2020-08-05DOI: 10.33093/ijoras.2020.2.1
I. F. Warsito, A. Hunold, J. Haueisen, E. Supriyanto
Accurate electrode signal measurement using EEG head caps can only be achieved through sufficient contact or force. A flexible force sensor is required to obtain accurate force measurement underneath EEG head caps. In this study, we evaluate the performance of a capacitive based sensor including its accuracy, repeatability, hysteresis, and stability. The result shows that accuracy error and repeatability error were 3.03±2.8 % and 3.84±2.92 %, respectively. The stability errors were 2.37±0.15 % (10 gram), 2.54±0.00 % (50 gram), 2.37±0.15 % (100 gram), 5.07±1.16 % (150 gram), 7.27±0.39 % (200 gram). The hysteresis error of the sensor was 4.48±0.47 %. Based on the results, the capacitive based force sensor provides sufficiently low errors in accuracy, repeatability, stability, and hysteresis and is thus suitable for measuring adduction force in EEG cap applications.
{"title":"Performance Evaluation of Capacitive Based Force Sensor for Electroencephalography Head Caps","authors":"I. F. Warsito, A. Hunold, J. Haueisen, E. Supriyanto","doi":"10.33093/ijoras.2020.2.1","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.1","url":null,"abstract":"Accurate electrode signal measurement using EEG head caps can only be achieved through sufficient contact or force. A flexible force sensor is required to obtain accurate force measurement underneath EEG head caps. In this study, we evaluate the performance of a capacitive based sensor including its accuracy, repeatability, hysteresis, and stability. The result shows that accuracy error and repeatability error were 3.03±2.8 % and 3.84±2.92 %, respectively. The stability errors were 2.37±0.15 % (10 gram), 2.54±0.00 % (50 gram), 2.37±0.15 % (100 gram), 5.07±1.16 % (150 gram), 7.27±0.39 % (200 gram). The hysteresis error of the sensor was 4.48±0.47 %. Based on the results, the capacitive based force sensor provides sufficiently low errors in accuracy, repeatability, stability, and hysteresis and is thus suitable for measuring adduction force in EEG cap applications.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"4-8"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49164754","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 : 2020-08-05DOI: 10.33093/ijoras.2020.2.4
Choon Chen Lim, K. S. Sim, C. Toa
This project concerns on the development of applications using sensors for the rehabilitation of stroke patients. Thus, the leap motion sensor is employed for the finger motor rehabilitation training while the Microsoft Kinect sensor is utilized for the upper limb motor rehabilitation. Two applications which are named ‘Pick and Place’ and ‘Stone Breaker’ are developed. For the first application, the patient is required to pick up the virtual blocks and stack it up. The ‘Stone Breaker’ game requires the patient to move the upper limb in controlling the paddle movement in the game. At the end of the project, it is able to achieve the dominant objective of the project when the tested patient shows significant improvement in both the application.
{"title":"Development of Visual-based Rehabilitation Using Sensors for Stroke Patient","authors":"Choon Chen Lim, K. S. Sim, C. Toa","doi":"10.33093/ijoras.2020.2.4","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.4","url":null,"abstract":"This project concerns on the development of applications using sensors for the rehabilitation of stroke patients. Thus, the leap motion sensor is employed for the finger motor rehabilitation training while the Microsoft Kinect sensor is utilized for the upper limb motor rehabilitation. Two applications which are named ‘Pick and Place’ and ‘Stone Breaker’ are developed. For the first application, the patient is required to pick up the virtual blocks and stack it up. The ‘Stone Breaker’ game requires the patient to move the upper limb in controlling the paddle movement in the game. At the end of the project, it is able to achieve the dominant objective of the project when the tested patient shows significant improvement in both the application.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"25-30"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43334743","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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