Journal of Field Robotics最新文献

{"title":"Turbid Underwater Image Enhancement via Attenuation Prior Formation Model","authors":"Shuai Liu,&nbsp;Peng Chen,&nbsp;Lei Chen,&nbsp;Yuchao Zheng,&nbsp;Jianru Li,&nbsp;Zhengxiang Shen,&nbsp;Zhanshan Wang","doi":"10.1002/rob.22525","DOIUrl":"https://doi.org/10.1002/rob.22525","url":null,"abstract":"<div>\u0000 \u0000 <p>To deal with the issue of poor visibility caused by water turbidity during the operation of underwater robotics, we propose an attenuation prior formation model-guided enhancement algorithm for turbid underwater images. Specifically, we establish an imaging model suitable for turbid water by studying the influence of water turbidity on light attenuation and transmission. For this model, we first propose a scoring formula that takes into account multiple prior knowledge to estimate the global background light with the help of a hierarchical searching technique. Then, we make full use of the advantages of different scale neighborhoods in image restoration and propose an adaptive multiscale weighted fusion transmission estimation method to balance brightness and contrast. In addition, to correct the color of the images with a natural appearance, a variation of white balance is introduced as postprocessing. Extensive experiments on two image data sets show that our algorithm achieves better results than state-of-the-art methods.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2549-2560"},"PeriodicalIF":5.2,"publicationDate":"2025-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Developing a Climbing Robot for Stay Cable Maintenance With Security and Rescue Mechanisms","authors":"Zhenliang Zheng,&nbsp;Chao Wang,&nbsp;Xiaoli Hu,&nbsp;Lun Zhang,&nbsp;Wenchao Zhang,&nbsp;Yongyuan Xu,&nbsp;Pengfei Liu,&nbsp;Xufang Pang,&nbsp;Tin Lun Lam,&nbsp;Ning Ding","doi":"10.1002/rob.22519","DOIUrl":"https://doi.org/10.1002/rob.22519","url":null,"abstract":"<p>The significance of climbing robotic systems for cable maintenance is escalating in both academic research and real-world applications. As these systems are poised for real-world deployment, it is imperative to develop security and rescue mechanisms that ensure robots' intrinsic safety and robustness in dealing with uncertainty factors. This study presents a novel cable climbing robot designed with a climbing platform, a robotic manipulator integrated with specialized maintenance tools, and a gripper to withstand dynamic loads and impacts from maintenance operations. In addition, we propose the variable-damping safe-landing mechanism, the rescue mechanism, and the fusible gripper mechanism to counteract substantial disturbances in worst-case scenarios. Extensive experiments have been conducted to evaluate the proposed robot and its security and rescue mechanisms. The cable climbing robot has a heavy-duty capacity of 45 kg and an obstacle-negotiation ability of 10 mm. It also demonstrated its capabilities in various maintenance tasks, such as cable inspection, grinding, or repair. The variable-damping safe-landing mechanism was tested, showing the maximum falling speed can decrease from 1 to 0.1 m/s to promise safety, and the falling time can increase from about 5 to 45 s. Meanwhile, the rescue mechanism successfully retrieved the trapped robot. The results demonstrate the capabilities of the cable climbing robot and the feasibility of using the security and rescue mechanisms for the climbing robotic system, which have implications that the cable climbing robot with security and rescue mechanisms is more reliable and can be deployed in the real world with greater confidence.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2532-2548"},"PeriodicalIF":5.2,"publicationDate":"2025-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22519","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"ROV Teleoperation in the Presence of Cross-Currents Using Soft Haptics","authors":"Joshua Brown,&nbsp;Ildar Farkhatdinov,&nbsp;Michael Jenkin","doi":"10.1002/rob.22533","DOIUrl":"https://doi.org/10.1002/rob.22533","url":null,"abstract":"<p>The remote operation of underwater vehicles at depth is complicated by the presence of invisible and unpredictable environmental disturbances such as cross-currents. Communicating the presence of these disturbances to an operator on the surface is made more difficult by the nature of the disturbances and the lack of visible features to highlight in the visual display presented to the operator. Here we explore the use of a novel interactive soft haptic touchpad that utilizes vibration and particle jamming to provide information about the presence and direction of cross-currents to the operator of an ROV (remotely operated vehicle). An in-water experiment using a thruster-based ROV and artificially generated cross-current was performed with nonexpert ROV operators to evaluate the effectiveness of multimodal haptic feedback to communicate complex environmental information during high-risk operations. Advanced haptic displays can signal both the presence of external factors as well as their direction, information that can enhance operational performance as well as reduce operator cognitive load. Using haptic feedback resulted in a statistically significant reduction in cognitive load of 24.3% and an increase in positioning accuracy of 28.3% for novice operators. Deviation from an ideal path was also reduced by 29.5% for experienced operators when using haptic feedback compared to without. While this experiment took place in controlled conditions with a fixed direction cross-current and haptic interface, this approach could be extended to communicate real-time environmental information in real-world unstructured environments.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2580-2593"},"PeriodicalIF":5.2,"publicationDate":"2025-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22533","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Heterogeneous Event Mapping of Multi-Robot System Based on Event Structures","authors":"Xuewei Zhang,&nbsp;Deshuai Han,&nbsp;Qiliang Yang,&nbsp;Wenjie Chen,&nbsp;Ronghao Wang","doi":"10.1002/rob.22534","DOIUrl":"https://doi.org/10.1002/rob.22534","url":null,"abstract":"<div>\u0000 \u0000 <p>Heterogeneous event mapping is a critical challenge in multi-robot system, where diverse robots generate event logs with opaque names and inconsistent formats due to subsystem heterogeneity. However, existing techniques are inappropriate because they do not make full use of workflow features in event logs. We observe that several types of event constraints in event logs may serve as more discriminative features in event matching. Therefore, a novel approach is proposed to address the above problem by leveraging event structures as discriminative feature for heterogeneous event mapping. Specifically, the event structure captures behavioral constraints in event logs to provide a robust foundation for event mapping. To enhance matching efficiency, we devise an advanced A* search algorithm with a tight upper bound, which effectively prunes nonoptimal mappings and avoid the space explosion problem. Furthermore, a prototype system is implemented that automatically calculates the optimal mapping score between heterogeneous events. Based on this, extensive experiments on both real and synthetic data sets demonstrate that our approach outperforms state-of-the-art approaches in accuracy, efficiency, and scalability. This work provides a robust solution for seamless coordination and data sharing in MRS, with potential applications in autonomous navigation, collaborative robotics, and human–robot interaction.</p></div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2594-2610"},"PeriodicalIF":5.2,"publicationDate":"2025-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881465","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Development and Application of the Coverage Path Planning Based on a Biomimetic Robotic Fish","authors":"Jincun Liu,&nbsp;Jian Zhao,&nbsp;Zhenna Liu,&nbsp;Yang Liu,&nbsp;Yinjie Ren,&nbsp;Dong An,&nbsp;Yaoguang Wei","doi":"10.1002/rob.22531","DOIUrl":"https://doi.org/10.1002/rob.22531","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper addresses the coverage path planning (CPP) and path-following challenges for an underwater biomimetic robotic fish, aimed at performing water quality monitoring in deep-sea net cages. First, a novel CPP strategy is proposed to minimize total path length, repetition rate, and turning frequency, thereby enhancing path coverage efficiency and reducing energy consumption. This strategy integrates the Deep Q-Network (DQN) method, a tailored reward function, and an RRT*-inspired rewrite mechanism. Second, a high-performance “LOS-PID” controller is developed to enable precise path following by the robotic fish. Finally, simulation experiments and field tests with the untethered robotic fish validate the effectiveness of the proposed CPP and path-following strategies, highlighting their practical applicability in aquaculture management. The proposed algorithm provides valuable insights into optimizing coverage path planning for underwater robotic systems in real-world scenarios.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2512-2531"},"PeriodicalIF":5.2,"publicationDate":"2025-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881191","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Mechanical Design and Redundant Motion Planning of a Hydraulic Quadruped Mobile Manipulator for Enlarging Operational Workspace","authors":"Song Liu,&nbsp;Hui Chai,&nbsp;Rui Song,&nbsp;Yibin Li,&nbsp;Xianyue Gang,&nbsp;Qin Zhang,&nbsp;Yueyang Li,&nbsp;Peng Fu,&nbsp;Zhiyuan Yang","doi":"10.1002/rob.22526","DOIUrl":"https://doi.org/10.1002/rob.22526","url":null,"abstract":"<div>\u0000 \u0000 <p>The quadruped mobile manipulator (QMM) combines the environmental adaptability of a quadruped robot and the operation capabilities of a robotic arm. The design of the hydraulic QMM with an emphasis on large operational workspace considerations is reported, covering both mechanical design and motion planning aspects. A joint optimization method for determining the structural parameters under two operating conditions is introduced to balance the motion range and force output efficiency, reducing the cylinder drive force by <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 \u0000 <mrow>\u0000 <mn>44.5</mn>\u0000 \u0000 <mo>%</mo>\u0000 </mrow>\u0000 </mrow>\u0000 <annotation> &lt;math altimg=\"urn:x-wiley:15564959:media:rob22526:rob22526-math-0001\" wiley:location=\"equation/rob22526-math-0001.png\" display=\"inline\" xmlns=\"http://www.w3.org/1998/Math/MathML\"&gt;&lt;mrow&gt;&lt;mrow&gt;&lt;mn&gt;44.5&lt;/mn&gt;&lt;mo&gt;%&lt;/mo&gt;&lt;/mrow&gt;&lt;/mrow&gt;&lt;/math&gt;</annotation>\u0000 </semantics></math> compared with before optimization. Furthermore, this paper proposes a redundant motion planning method for the QMM, based on null-space projection and task feasibility assessment to expand the operational workspace. Through coordinated leg–arm motion, the robot's reachable workspace increases by <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 \u0000 <mrow>\u0000 <mn>30.8</mn>\u0000 \u0000 <mo>%</mo>\u0000 </mrow>\u0000 </mrow>\u0000 <annotation> &lt;math altimg=\"urn:x-wiley:15564959:media:rob22526:rob22526-math-0002\" wiley:location=\"equation/rob22526-math-0002.png\" display=\"inline\" xmlns=\"http://www.w3.org/1998/Math/MathML\"&gt;&lt;mrow&gt;&lt;mrow&gt;&lt;mn&gt;30.8&lt;/mn&gt;&lt;mo&gt;%&lt;/mo&gt;&lt;/mrow&gt;&lt;/mrow&gt;&lt;/math&gt;</annotation>\u0000 </semantics></math>. Physical experiments are conducted to demonstrate the effectiveness of the proposed method and the field capabilities of the QMM.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2492-2511"},"PeriodicalIF":5.2,"publicationDate":"2025-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Development of a Telerobotic Target-Specific Pesticide Applicator: An Intervention for Enhanced Safety and Efficiency","authors":"Mude Arjun Naik,&nbsp;Adarsh Kumar,&nbsp;Dilip Kumar Kushwaha,&nbsp;H. L. Kushwaha,&nbsp;Suman Gupta,&nbsp;V. Ramasubramanian,&nbsp;Awani Kumar Singh,&nbsp;Murtaza Hasan","doi":"10.1002/rob.22524","DOIUrl":"https://doi.org/10.1002/rob.22524","url":null,"abstract":"<div>\u0000 \u0000 <p>Advances in computing and electronics are finding applications in agriculture. These facilitate the automation of farm operations performed manually under greenhouse structures. During chemical application, farm workers are exposed to toxic chemicals and experience fatigue and drudgery with traditional spraying equipment. The traditional application methods apply chemicals uniformly, without considering the spatial variability of the canopy, which adversely impacts the economy and environment. To mitigate these, a telerobotic target-specific pesticide applicator (robot) was designed and developed for real-time application of pesticides based on the presence and height of foliage. It consists of a prime mover, an ultrasonic sensor-based target-specific pesticide application system with electronic control for navigation and spraying systems. The robot is operated from outside the greenhouse by an operator sitting in a safe environment through real-time video. The percentage reduction in pesticide use during greenhouse field evaluation was 24.95% with activation compared to without the activation of sensors. The theoretical field capacity, effective field capacity, and field efficiency of the robot are 0.20 ha h⁻¹, 0.15 ha h⁻¹, and 75% respectively. The maximum range of wireless communication between the operator and the robot was 121 m. The root mean square error of deviation from a straight-line path was 55 mm. In the context of user interface design for human–robot interaction, two display devices (a dashboard display and a first-person view head-mounted display [HMD]) were evaluated, along with peripheral vision (single view and adjustable multiple views). Results showed that adjustable multiple views with the HMD demonstrated statistically significant improvements in effectiveness, efficiency, and system usability scores compared with single view and dashboard display. The potential dermal exposures of the operators with a rechargeable knapsack sprayer (RKP) and with a developed robot during spraying activity were 53.75 ± 0.99 mL h⁻¹ and zero, respectively. This means the developed robot eliminates exposure to the operator. The ergonomic parameters—heart rate, body part discomfort score, and overall discomfort score—using an RKP are 104.1 ± 6 beats min⁻¹, 27.3 ± 2.0, and 3.5 ± 0.2, respectively, while with the developed robot, they were 99 ± 4 beats min⁻¹, 12.1 ± 1.1, and 1.0 ± 0.5, respectively. The operating cost of the developed robot was 1.74 times higher than that of the RKP, but it offers a more precise pesticide application, reducing chemical wastage and environmental impact. The robot completes spraying on a 1500 m² greenhouse in 0.75 h compared with 4 h with a knapsack sprayer, reducing spraying time by 5.3 times and enhancing efficiency, cost savings, and operator well-being.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2469-2491"},"PeriodicalIF":5.2,"publicationDate":"2025-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"LCRBot: Load-Carrying Rolling Robot Based on Truncated Hexahedral Tensegrity","authors":"Jilei Liu,&nbsp;Zhiyin Xu,&nbsp;Jinyu Lu,&nbsp;Xun Gu,&nbsp;Jiarong Wu","doi":"10.1002/rob.22527","DOIUrl":"https://doi.org/10.1002/rob.22527","url":null,"abstract":"<div>\u0000 \u0000 <p>The tensegrity robot consists of rigid compression bars and elastic tension cables, offering several advantages over traditional load-carrying robots, including impact resistance, lightweight design, unique movement patterns, and modularity. However, research on tensegrity robots capable of carrying loads and rolling is very limited. This paper proposes a load-carrying and rolling tensegrity robot (LCRBot) based on truncated hexahedral tensegrity structure, which offers ample load-carrying space and the ability to perform rolling. LCRBot can achieve active deformation by elongating and shortening its internal bars. The gait control strategies of LCRBot under different numbers of actuators and rolling directions, as well as variations in different environments are investigated. The MATLAB-based dynamic model of LCRBot is proposed and its simulation results of basic gait are consistent with the experiment. The proposed LCRBot showcases its potential for carrying sensors, power sources, and other equipment during rolling motions, making it highly valuable for research.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2454-2468"},"PeriodicalIF":5.2,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881159","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Geometric Adaptive Neural Controller and Optical Flow-Based Invariant Extended Kalman Filter for Mars Quadrotor Under Disturbance","authors":"Yiqun Li,&nbsp;Siyuan Qiao,&nbsp;Haoluo Shao,&nbsp;Zhouping Yin","doi":"10.1002/rob.22523","DOIUrl":"https://doi.org/10.1002/rob.22523","url":null,"abstract":"<div>\u0000 \u0000 <p>With the continuous progress of deep space robotics technology and the deepening of human understanding of the Martian surface environment, the rotorcraft is expected to overcome the limitations of Mars orbiters and rovers in terms of exploration accuracy, range, and flexibility. Rotorcraft are poised to become essential vehicles for future deep space exploration missions. In this paper, an invariant extended Kalman filter (IEKF) and geometric adaptive neural controllers (GANC) are introduced for the state estimation and trajectory tracking of the Mars quadrotor. The IEKF fuses the IMU and depth camera information to estimate the optimal states of the quadrotor, which are used as the inputs of the trajectory tracking controller. Multilayer perceptron networks (MLP) and temporal convolutional networks (TCN) are designed and trained to predict the force and torque disturbances to improve the tracking accuracy and robustness of the proposed geometric adaptive neural controllers, including the feedforward (FF) proportional-differential (PD) neural controller on SE(3) for large-angle maneuver and the differential-flatness based neural controller (DFBC) for flight in strong winds. Especially, for underpowered situations, an event-trigger neural model predictive contouring controller (ET-NMPCC) is designed to optimize the control inputs, foresee and adapt to potential future external forces, and ultimately achieve higher trajectory tracking accuracy. Physical simulation systems are established to mimic the terrain and atmosphere of the Martian surface in Webots and Airsim simulator. The simulation and real-world experimental results show the effectiveness and superiority of these methods in flight navigation and control performances of the quadrotor on the Martian surface.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2428-2453"},"PeriodicalIF":5.2,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881158","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Morphlight Theory Inspired by Raptor: Arm-Wing Cooperative Control Method and its Application","authors":"Di Tang,&nbsp;Yibo Zhao,&nbsp;Kunpeng Wang,&nbsp;Kai Chen,&nbsp;Yang Liu,&nbsp;Yanbin Dai,&nbsp;Congbo Zheng,&nbsp;Dongliang Yu","doi":"10.1002/rob.22532","DOIUrl":"https://doi.org/10.1002/rob.22532","url":null,"abstract":"<div>\u0000 \u0000 <p>Avians can change their wing shape in a fast and efficient manner resulting in high manoeuvrabilities. The wing is composed of several bones and dozens of muscles, enabling it to have morphing abilities. However, various wing postures require complex control strategies, but no method or control device has yet been designed. Therefore, an arm-wing cooperative control method is achieved for the first time in the current research. In the method, the similarities between a human arm skeletal and an avian wing skeletal were figured out, and then a direct mapping between human arm motions and avian wing motions was proposed and established. A motion capture system was utilized to measure the motions of both arm and wing. Thereafter, a bionic wing skeleton was designed and controlled in a real-time manner, which allows a human to flap its arm just like a bird. We guess that the arm-wing cooperative control method could be a new control method for future aircraft.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 6","pages":"2412-2427"},"PeriodicalIF":5.2,"publicationDate":"2025-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144881473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}