{"title":"The key technologies of pedestrian navigation based on micro inertial system and biological kinematics","authors":"Weixing Qian, Zhi Xiong, Fei Xie, Qing-hua Zeng, Yuntao Wang, Shuai Zhu","doi":"10.1109/PLANS.2016.7479753","DOIUrl":"https://doi.org/10.1109/PLANS.2016.7479753","url":null,"abstract":"","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"50 1","pages":"613-621"},"PeriodicalIF":0.0,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75617371","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 : 2016-01-01DOI: 10.1109/PLANS.2016.7479739
Jianxin Xu, Zhi Xiong, Jianye Liu, Xue-Bo Kong, Song Han
{"title":"Research on information intermittent fusion of ASPN system in the long-endurance UAVs","authors":"Jianxin Xu, Zhi Xiong, Jianye Liu, Xue-Bo Kong, Song Han","doi":"10.1109/PLANS.2016.7479739","DOIUrl":"https://doi.org/10.1109/PLANS.2016.7479739","url":null,"abstract":"","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"95 1","pages":"507-513"},"PeriodicalIF":0.0,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90526759","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507231
A. Jovanovic, Y. Tawk, C. Botteron, P. Farine
Multipath mitigation in urban canyons and indoor environments is an open issue for the reception of GNSS signals for high precision applications, as the presence of multipath components can lead to signal fading and ranging errors. New families of navigation signals, such as AltBOC, CBOC and TMBOC bring potential improvements, such as more signal power, better multipath mitigation capabilities and more robust navigation. Therefore the goal of this paper is to investigate multipath mitigation capabilities of CBOC, TMBOC and AltBOC with different discriminator architectures through theoretical analysis and realistic set-up with measurements in order to provide an overview of their performance in different environments.
{"title":"Multipath mitigation techniques for CBOC, TMBOC and AltBOC signals using advanced correlators architectures","authors":"A. Jovanovic, Y. Tawk, C. Botteron, P. Farine","doi":"10.1109/PLANS.2010.5507231","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507231","url":null,"abstract":"Multipath mitigation in urban canyons and indoor environments is an open issue for the reception of GNSS signals for high precision applications, as the presence of multipath components can lead to signal fading and ranging errors. New families of navigation signals, such as AltBOC, CBOC and TMBOC bring potential improvements, such as more signal power, better multipath mitigation capabilities and more robust navigation. Therefore the goal of this paper is to investigate multipath mitigation capabilities of CBOC, TMBOC and AltBOC with different discriminator architectures through theoretical analysis and realistic set-up with measurements in order to provide an overview of their performance in different environments.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"88 1","pages":"1127-1136"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78710589","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507321
M. Khider, T. Jost, Elena Abdo Sanchez, P. Robertson, M. Angermann
Indoor and urban canyons are application areas that are becoming increasingly important for navigation application. However, achieving the required accuracy and availability is still a challenge. Multisensor navigation is one of the techniques that has shown promising results in addressing the challenges of such areas. Being able to incorporate raw low-level sensor data is advantageous as it allows to incorporate all available information and more accurate estimation models. In this paper a Particle Filter based multisensor positioning system is extended to use pseudorange measurements of a GPS sensor instead of a calculated position solution. Using pseudoranges, any number of visible satellites can improve positioning accuracy, when combined with measurements from other sensors like an electronic compass, a barometric altimeter or a foot mounted inertial measurement unit (IMU). Additionally, statistical error models for pseudoranges are integrated and tested. Our results show that by using the models within the Bayesian framework yields promising results in terms of error mitigation.
{"title":"Bayesian multisensor navigation incorporating pseudoranges and multipath model","authors":"M. Khider, T. Jost, Elena Abdo Sanchez, P. Robertson, M. Angermann","doi":"10.1109/PLANS.2010.5507321","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507321","url":null,"abstract":"Indoor and urban canyons are application areas that are becoming increasingly important for navigation application. However, achieving the required accuracy and availability is still a challenge. Multisensor navigation is one of the techniques that has shown promising results in addressing the challenges of such areas. Being able to incorporate raw low-level sensor data is advantageous as it allows to incorporate all available information and more accurate estimation models. In this paper a Particle Filter based multisensor positioning system is extended to use pseudorange measurements of a GPS sensor instead of a calculated position solution. Using pseudoranges, any number of visible satellites can improve positioning accuracy, when combined with measurements from other sensors like an electronic compass, a barometric altimeter or a foot mounted inertial measurement unit (IMU). Additionally, statistical error models for pseudoranges are integrated and tested. Our results show that by using the models within the Bayesian framework yields promising results in terms of error mitigation.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"10 1","pages":"816-825"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85213366","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507201
L. Serrano, Don Kim, R. Langley
Machine control and automation has always been perceived as an intermediate process to increase industrial productivity (and thus profitability), operability, comfort, and safety net gain for human lives and goods. However one of the biggest limitation factors to achieve and implement successful automation systems for the markets of surveying, precision agriculture, aircraft precision approach, maritime ship guidance, and construction automation (just to name a few) has been the difficulty to prove that the underlying positioning infra-structure can provide reliably and continuously position and navigation information throughout all conditions, and scenarios.
{"title":"Multipath adaptive filtering in GNSS/RTK-based machine automation applications","authors":"L. Serrano, Don Kim, R. Langley","doi":"10.1109/PLANS.2010.5507201","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507201","url":null,"abstract":"Machine control and automation has always been perceived as an intermediate process to increase industrial productivity (and thus profitability), operability, comfort, and safety net gain for human lives and goods. However one of the biggest limitation factors to achieve and implement successful automation systems for the markets of surveying, precision agriculture, aircraft precision approach, maritime ship guidance, and construction automation (just to name a few) has been the difficulty to prove that the underlying positioning infra-structure can provide reliably and continuously position and navigation information throughout all conditions, and scenarios.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"58 1","pages":"60-69"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85227781","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507283
J. Britt, D. Broderick, D. Bevly, J. Hung
This paper presents two techniques for determining vehicle pitch and roll with a 3-D lidar which will first auto-calibrate itself to the vehicle's axes. The first method presented is based on Euler angles and the second on Gaussian Processes. A 3-antenna Septentrio GPS receiver is used to asses system performance.
{"title":"Lidar attitude estimation for vehicle safety systems","authors":"J. Britt, D. Broderick, D. Bevly, J. Hung","doi":"10.1109/PLANS.2010.5507283","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507283","url":null,"abstract":"This paper presents two techniques for determining vehicle pitch and roll with a 3-D lidar which will first auto-calibrate itself to the vehicle's axes. The first method presented is based on Euler angles and the second on Gaussian Processes. A 3-antenna Septentrio GPS receiver is used to asses system performance.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"35 1","pages":"1226-1231"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85611187","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507178
H. Rotstein, Y. Baumgarten
This paper presents a procedure for computing the relative orientation between two static inertial navigation systems: a primary and a secondary. The primary system is assumed to be of navigation quality and therefore capable of gyro-compassing to the desired accuracy. The secondary is lower quality and requires external aiding for azimuth and accurate leveling initialization. The assumption that allows the transfer alignment is that the primary and the secondary are rigidly mounted on a mechanical structure that allows for joint rotation around one or more axis while maintaining the relative orientation between the two systems. A pitch axis is typical in practical systems and hence the name “Erection Procedure.” As opposed to the Kalman-filter based procedures in use in several systems today, the new method does not require the computation of a navigation solution while the mechanical system is been erected. Instead, measurements from the navigation sensors are required at a number of discrete stages, and then these measurements are processed to compute the relative orientation between the primary and the secondary. The procedure is easy to implement and yields an exact solution to the problem whenever the underlying assumptions are exactly met. It has been shown to work well both in simulations and in practice. In addition to its practical relevance, this work also sheds additional light into the general question of aligning two static navigation systems.
{"title":"An alternative erection procedure for on-ground transfer alignment","authors":"H. Rotstein, Y. Baumgarten","doi":"10.1109/PLANS.2010.5507178","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507178","url":null,"abstract":"This paper presents a procedure for computing the relative orientation between two static inertial navigation systems: a primary and a secondary. The primary system is assumed to be of navigation quality and therefore capable of gyro-compassing to the desired accuracy. The secondary is lower quality and requires external aiding for azimuth and accurate leveling initialization. The assumption that allows the transfer alignment is that the primary and the secondary are rigidly mounted on a mechanical structure that allows for joint rotation around one or more axis while maintaining the relative orientation between the two systems. A pitch axis is typical in practical systems and hence the name “Erection Procedure.” As opposed to the Kalman-filter based procedures in use in several systems today, the new method does not require the computation of a navigation solution while the mechanical system is been erected. Instead, measurements from the navigation sensors are required at a number of discrete stages, and then these measurements are processed to compute the relative orientation between the primary and the secondary. The procedure is easy to implement and yields an exact solution to the problem whenever the underlying assumptions are exactly met. It has been shown to work well both in simulations and in practice. In addition to its practical relevance, this work also sheds additional light into the general question of aligning two static navigation systems.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"36 1","pages":"410-417"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85742325","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507327
J. Georgy, A. Noureldin, Z. Syed, C. Goodall
The integration of Global Positioning System (GPS), inertial sensors and other motion sensors inside land vehicles enable reliable positioning in challenging GPS environments. GPS signals may suffer from blockage in urban canyons and tunnels resulting in interrupted positioning information. Inertial sensors are standalone sensors that can be integrated with GPS and can bridge the blockage periods as they do not rely on any external signals. Recently, miniaturized Micro-Electro-Mechanical Systems (MEMS)-based inertial sensors are abundantly used for vehicle safety applications such as air-bag deployment, roll-over detection, etc. These sensors can be used as inertial navigation system (INS) after integrating with GPS for reliable navigation solution even in denied GPS signal environments. The traditional technique for this integration is based on Kalman filter (KF) with a dedicated inertial sensor module consisting of three orthogonal gyros and three orthogonal accelerometers. This research targets a low cost navigation solution for land vehicles and hence it utilizes a reduced inertial sensor system (RISS) consisting of MEMS-based single axis gyro and a dual axis accelerometer. Additionally, the vehicle's odometer is used and an integrated 3D navigation solution is achieved. To improve the positioning accuracy a nonlinear filtering technique, particle filter (PF) is used to avoid linearization errors. Because of PF ability to deal directly with nonlinear models, it can accommodate arbitrary sensor characteristics and motion dynamics. Consequently, tightly coupled integration which has a nonlinear measurement model can be directly used in PF without introducing any errors. An enhanced version of PF is implemented known as Mixture PF and the performance of this method is examined by actual road tests in a land vehicle and compared with KF.
{"title":"Nonlinear filtering for tightly coupled RISS/GPS integration","authors":"J. Georgy, A. Noureldin, Z. Syed, C. Goodall","doi":"10.1109/PLANS.2010.5507327","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507327","url":null,"abstract":"The integration of Global Positioning System (GPS), inertial sensors and other motion sensors inside land vehicles enable reliable positioning in challenging GPS environments. GPS signals may suffer from blockage in urban canyons and tunnels resulting in interrupted positioning information. Inertial sensors are standalone sensors that can be integrated with GPS and can bridge the blockage periods as they do not rely on any external signals. Recently, miniaturized Micro-Electro-Mechanical Systems (MEMS)-based inertial sensors are abundantly used for vehicle safety applications such as air-bag deployment, roll-over detection, etc. These sensors can be used as inertial navigation system (INS) after integrating with GPS for reliable navigation solution even in denied GPS signal environments. The traditional technique for this integration is based on Kalman filter (KF) with a dedicated inertial sensor module consisting of three orthogonal gyros and three orthogonal accelerometers. This research targets a low cost navigation solution for land vehicles and hence it utilizes a reduced inertial sensor system (RISS) consisting of MEMS-based single axis gyro and a dual axis accelerometer. Additionally, the vehicle's odometer is used and an integrated 3D navigation solution is achieved. To improve the positioning accuracy a nonlinear filtering technique, particle filter (PF) is used to avoid linearization errors. Because of PF ability to deal directly with nonlinear models, it can accommodate arbitrary sensor characteristics and motion dynamics. Consequently, tightly coupled integration which has a nonlinear measurement model can be directly used in PF without introducing any errors. An enhanced version of PF is implemented known as Mixture PF and the performance of this method is examined by actual road tests in a land vehicle and compared with KF.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"5 1","pages":"1014-1021"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81224862","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 : 2010-05-04DOI: 10.1109/PLANS.2010.5507229
P. Kovář, P. Kačmařík, F. Vejražka
The recent development of the GNSS systems and international cooperation resulted in important technical problems of the GNSS systems which are an interoperability and compatibility. In the interoperable receivers the most expensive parts - front ends - can be shared for signals reception of different systems. The unification of the signal processor is also possible with some small performance deterioration but the hardware complexity reduction is considerable. The paper analyses applicability of a classical E-L correlator for processing of various GNSS signals and compare its performance with optimal method. The low complex interoperable processor of software receiver based on a FPGA for the GPS, Galileo and GLONASS systems is proposed. The results of testing on the Galileo E1 and E5 signals are presented. The last part of the paper proposes architecture of a low cost multi system GNSS receiver based on mass market components.
{"title":"Low complex interoperable GNSS signal processor and its performance","authors":"P. Kovář, P. Kačmařík, F. Vejražka","doi":"10.1109/PLANS.2010.5507229","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507229","url":null,"abstract":"The recent development of the GNSS systems and international cooperation resulted in important technical problems of the GNSS systems which are an interoperability and compatibility. In the interoperable receivers the most expensive parts - front ends - can be shared for signals reception of different systems. The unification of the signal processor is also possible with some small performance deterioration but the hardware complexity reduction is considerable. The paper analyses applicability of a classical E-L correlator for processing of various GNSS signals and compare its performance with optimal method. The low complex interoperable processor of software receiver based on a FPGA for the GPS, Galileo and GLONASS systems is proposed. The results of testing on the Galileo E1 and E5 signals are presented. The last part of the paper proposes architecture of a low cost multi system GNSS receiver based on mass market components.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"28 1","pages":"947-951"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78979428","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}
A new concept gyroscope based on superfluid Josephson effect was described and analyzed to improve the performance greatly. It is a new Sagnac effect that an interferometer “loop”, formed by placing double weak links in a toroid filled with superfluid He4, can detect the interference of superfluid matter waves generated by the AC Josephson oscillation in weak links. In this paper, the potential advantages of superfluid gyroscope were estimated. The most important advantage is the very high sensitivity which could be increased theoretically by a factor of 1010 than the sensitivity of traditional Ring Laser Gyroscope. But such a superfluid gyroscope still faces some difficulties when it is used as an angular velocity measuring device for navigation, the most important one is the conflict between the high sensitivity and wide measurement range. Then, two methods were discussed to solve that conflict which is a key problem in current superfluid gyroscope research. The first method is “flux-locking”, which is a technique used in superconducting dc-SQUIDs. The principle of the method and analysis of performance were presented. It can increase measurement range to 500 times of original one. In another hand, such a superfluid gyroscope should work in a situation with limited angular acceleration. Author presented another method, called “history tracing”, and its work principle. The performance of the second method also be studied, and results showed that “history tracing” overcomes the problem of measurement range totally. Comparisons showed that “history tracing” is a better choice to develop high performance superfluid gyroscope.
{"title":"The exploratory research of a Novel gyroscope based on superfluid Josephson effect","authors":"Zheng Xie, Jianye Liu, Wei Zhao, Baozhang Song, Mingyu Feng","doi":"10.1109/PLANS.2010.5507136","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507136","url":null,"abstract":"A new concept gyroscope based on superfluid Josephson effect was described and analyzed to improve the performance greatly. It is a new Sagnac effect that an interferometer “loop”, formed by placing double weak links in a toroid filled with superfluid He4, can detect the interference of superfluid matter waves generated by the AC Josephson oscillation in weak links. In this paper, the potential advantages of superfluid gyroscope were estimated. The most important advantage is the very high sensitivity which could be increased theoretically by a factor of 1010 than the sensitivity of traditional Ring Laser Gyroscope. But such a superfluid gyroscope still faces some difficulties when it is used as an angular velocity measuring device for navigation, the most important one is the conflict between the high sensitivity and wide measurement range. Then, two methods were discussed to solve that conflict which is a key problem in current superfluid gyroscope research. The first method is “flux-locking”, which is a technique used in superconducting dc-SQUIDs. The principle of the method and analysis of performance were presented. It can increase measurement range to 500 times of original one. In another hand, such a superfluid gyroscope should work in a situation with limited angular acceleration. Author presented another method, called “history tracing”, and its work principle. The performance of the second method also be studied, and results showed that “history tracing” overcomes the problem of measurement range totally. Comparisons showed that “history tracing” is a better choice to develop high performance superfluid gyroscope.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":"184 1","pages":"14-19"},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88267784","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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