Robotic Intelligence and Automation最新文献

{"title":"Research on assembly accuracy of deployable arm based on Jacobian-Torsor model","authors":"Ligang Lu, Pengfei Li, Dongbo Wu, Jia-xin Liang, Haibo Wang, Peng He","doi":"10.1108/ria-07-2022-0185","DOIUrl":"https://doi.org/10.1108/ria-07-2022-0185","url":null,"abstract":"\u0000Purpose\u0000The purpose of this study is to establish an assembly accuracy analysis model of deployable arms based on Jacobian–Torsor theory to improve the assembly accuracy. Spacecraft deployable arm is one of the core components of spacecraft. Reducing the errors in assembly process is the main method to improve the assembly accuracy of spacecraft deployable arms.\u0000\u0000\u0000Design/methodology/approach\u0000First, the influence of composite connecting rod, root joint and arm joint on assembly accuracy in the tandem assembly process is analyzed to propose the assembly accuracy analysis model. Second, a non-tandem assembly process of “two joints fixed-composite rod installed-flange gasket compensated” is proposed and analyzed to improve the assembly accuracy of deployable arms. Finally, the feasibility of non-tandem assembly process strategy is verified by assembly experiment.\u0000\u0000\u0000Findings\u0000The experiential results show that the assembly errors are reduced compared with the tandem assembly process. The errors on axes x, y and z directions decreased from 14.1009 mm, 14.2424 mm and 0.8414 mm to 0.922 mm, 0.671 mm and 0.2393 mm, respectively. The errors round axes x and y directions also decreased from 0.0050° and 0.0053° to 0.00292° and 0.00251°, respectively.\u0000\u0000\u0000Originality/value\u0000This paper presents an assembly accuracy analysis model of deployable arms and applies the model to calculate assembly errors in tandem assembly process. In addition, a non-tandem assembly process is proposed based on the model. The experimental results show that the non-tandem assembly process can improve the assembly accuracy of deployable arms.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"298 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121728126","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}

{"title":"FADM-SLAM: a fast and accurate dynamic intelligent motion SLAM for autonomous robot exploration involving movable objects","authors":"Q. ul Islam, H. Ibrahim, Pan Kok Chin, Kevin Lim, M. Z. Abdullah","doi":"10.1108/ria-11-2022-0269","DOIUrl":"https://doi.org/10.1108/ria-11-2022-0269","url":null,"abstract":"\u0000Purpose\u0000Many popular simultaneous localization and mapping (SLAM) techniques have low accuracy, especially when localizing environments containing dynamically moving objects since their presence can potentially cause inaccurate data associations. To address this issue, the proposed FADM-SLAM system aims to improve the accuracy of SLAM techniques in environments containing dynamically moving objects. It uses a pipeline of feature-based approaches accompanied by sparse optical flow and multi-view geometry as constraints to achieve this goal.\u0000\u0000\u0000Design/methodology/approach\u0000FADM-SLAM, which works with monocular, stereo and RGB-D sensors, combines an instance segmentation network incorporating an intelligent motion detection strategy (iM) with an optical flow technique to improve location accuracy. The proposed AS-SLAM system comprises four principal modules, which are the optical flow mask and iM, the ego motion estimation, dynamic point detection and the feature-based extraction framework.\u0000\u0000\u0000Findings\u0000Experiment results using the publicly available RGBD-Bonn data set indicate that FADM-SLAM outperforms established visual SLAM systems in highly dynamic conditions.\u0000\u0000\u0000Originality/value\u0000In summary, the first module generates the indication of dynamic objects by using the optical flow and iM with geometric-wise segmentation, which is then used by the second module to compute the starting point of a posture. The third module, meanwhile, first searches for the dynamic feature points in the environment, and second, eliminates them from further processing. An algorithm based on epipolar constraints is implemented to do this. In this way, only the static feature points are retained, which are then fed to the fourth module for extracting important features.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"692 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115117955","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}

{"title":"Research on ERS point registration of large-size measurement field based on neural network non-uniform temperature field","authors":"Lulu Huang, Xiang Huang, Shuanggao Li","doi":"10.1108/ria-12-2022-0271","DOIUrl":"https://doi.org/10.1108/ria-12-2022-0271","url":null,"abstract":"\u0000Purpose\u0000Large size of aircraft assembly tooling structure and complex measurement environment exist. The laid enhanced reference points (ERS) are subject to a combination of nonuniform temperature fields and measurement errors, resulting in increased measurement registration errors. In view of the nonuniform temperature field and measurement errors affecting the ERS point registration problem, the purpose of this paper is to propose a neural network-based ERS point registration compensation method for large-size measurement fields under a nonuniform temperature field.\u0000\u0000\u0000Design/methodology/approach\u0000The approach is to collect ERS point information and temperature data, normalize the collected data to complete the data structure design and complete the construction of the neural network prediction model by data training. The data learning is performed to complete the prediction model construction, and the prediction model is used to complete the compensation analysis of ERS points. Finally, the algorithm is verified through experiments and engineering practice.\u0000\u0000\u0000Findings\u0000Experimental results show that the proposed neural network-based ERS point prediction and compensation method for nonuniform temperature fields effectively predicts ERS point deformation under nonuniform temperature fields compared with the conventional method. After the compensation analysis, the registration error is effectively reduced to improve registration accuracy. Reducing the combined effect of environmental nonuniform temperature field and measurement error has apparent advantages.\u0000\u0000\u0000Originality/value\u0000The method reduces the registration error caused by combining a nonuniform temperature field and measurement error. It can be used for aircraft assembly site prediction and registration error compensation analysis, which is essential to improve measurement accuracy further.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123019138","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}

{"title":"Optimal trajectory planning of the industrial robot using hybrid S-curve-PSO approach","authors":"Bhumeshwar K. Patle, Shyh-Leh Chen, Anil Singh, S. Kashyap","doi":"10.1108/ria-07-2022-0187","DOIUrl":"https://doi.org/10.1108/ria-07-2022-0187","url":null,"abstract":"\u0000Purpose\u0000The paper aims to develop an efficient and compact hybrid S-curve-PSO (particle swarm optimization) controller for the optimal trajectory planning of industrial robots in the presence of obstacles, especially those used in pick-and-place operations.\u0000\u0000\u0000Design/methodology/approach\u0000The proposed methodology comprises a monotonic trajectory through bounded entropy of speed, velocity, acceleration and jerk. Thus, the robot’s trajectory planning corresponds with S-curve-PSO duality. This is achieved by dual navigation with minimal computational complexity. The matrix algebra-based computational complexity transforms the trajectory from random to compact. The linear programming problem represents the proposed robot in Euclidean space, and its optimal solution sets the corresponding optimal trajectory.\u0000\u0000\u0000Findings\u0000The proposed work ensures the efficient trajectory planning of the industrial robot in the presence of obstacles with optimized path length and time. The real-time and simulation analysis of the robot is presented for performance measurement, and their outcomes demonstrate a good correlation. Compared with the existing controller, it gives a noteworthy improvement in performance.\u0000\u0000\u0000Originality/value\u0000The novel S-curve-PSO hybrid approach is presented here, along with the LIDAR sensors, which generate the environment map and detect obstacles for autonomous trajectory planning. Based on the sensory information, the proposed approach generates the optimal trajectory by avoiding obstacles and minimizing the travel time, jerk, velocity and acceleration. The hybrid S-curve-PSO approach for optimal trajectory planning of the industrial robot in the presence of obstacles has not been presented by any researchers. This method considers the robot’s kinematics as well as its dynamics. The implementation of the PSO makes it computationally superior and faster. The selection of best-fit parameters by PSO assures the optimized trajectory in the presence of obstacles and uncertainty.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126323328","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}

{"title":"A novel conflict free routing with multi pickup delivery tasks for autonomous vehicles","authors":"Inci Sariçiçek, A. Yazıcı, Özge Aslan","doi":"10.1108/ria-04-2022-0086","DOIUrl":"https://doi.org/10.1108/ria-04-2022-0086","url":null,"abstract":"\u0000Purpose\u0000This study aims to propose a novel method for the conflict detection and eradication of autonomous vehicles which has predetermined routes to establish multi pickup and delivery tasks according to task priorities and vehicle capacity status on each pickup and delivery nodes in assembly cells in the automotive production.\u0000\u0000\u0000Design/methodology/approach\u0000In the designed system, the routing of autonomous vehicles (AVs) and scheduling of pickup and delivery tasks are established in production logistics. Gantt chart is created according to vehicle routes, and conflicts are detected using the proposed conflict-sweep algorithm. The proposed conflict-solving algorithm eliminates conflicts on intersections and roads by considering vehicle routes and task priorities.\u0000\u0000\u0000Findings\u0000In many production systems, there is a need to obtain flexible routes in each pickup delivery task group that changes during day, week, etc. Proposed system provides remarkable advantages in obtaining conflict-free routes for pre-scheduled multi transport tasks of vehicles by considering efficiency in production systems.\u0000\u0000\u0000Originality/value\u0000A novel method is proposed for the conflict detection and eradication of AVs. Proposed system eliminates conflicts on intersections and roads by considering pre-planned vehicle routes for a fleet of heterogeneous AVs. Unlike most of the other conflict-free algorithms, in which conflicts are solved between two points, proposed system also considers multi pickup and delivery points for AVs. This is pioneering paper that addresses conflict-free route planning with backhauls and scheduling of multi pickup and delivery tasks for AVs.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126154028","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}

{"title":"Composite error-based finite time super twisting sliding mode synchronous control for hybrid mechanism","authors":"Guoqin Gao, Jun Sun, Yuanyuan Cao","doi":"10.1108/ria-05-2022-0119","DOIUrl":"https://doi.org/10.1108/ria-05-2022-0119","url":null,"abstract":"\u0000Purpose\u0000This paper aims to solve the problems of the synchronization between branches and the uncertainties such as joint friction, load variation and external interference of a hybrid mechanism. The controller is used to improve the synchronization and robustness of the hybrid mechanism system and achieve both finite time convergence and chattering-free sliding mode.\u0000\u0000\u0000Design/methodology/approach\u0000First, the dynamic model of hybrid mechanism containing lumped uncertainties is formulated by the Lagrange method, and a composite error based on coupling synchronization error and the end-effector tracking error is set up in the task space. Then, by combining the finite time super twisting sliding mode control algorithm, a composite error-based finite time super twisting sliding mode synchronous control law is designed to make the end-effector tracking error and coupling synchronization error achieve better tracking performance and convergence performance. Finally, the Lyapunov stability of the control law and the finite-time convergence of the composite error are proved theoretically.\u0000\u0000\u0000Findings\u0000To verify the effectiveness of the proposed control method, simulations and experiments for the prototype system of the hybrid mechanism are conducted. The results show that the proposed control method can achieve better tracking performance and convergence performance.\u0000\u0000\u0000Originality/value\u0000This is a new innovation for a hybrid mechanism containing lumped uncertainties to improve the robustness, convergence performance, tracking performance and synchronization of the system.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130860745","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}

{"title":"A syntactic method for robot imitation learning of complex sequence task","authors":"Yuqing Du, Jipan Jian, Zhiming Zhu, Dehua Pan, Dong Liu, Xiaojing Tian","doi":"10.1108/ria-05-2022-0127","DOIUrl":"https://doi.org/10.1108/ria-05-2022-0127","url":null,"abstract":"\u0000Purpose\u0000Aiming at the problems of weak generalization of robot imitation learning methods and higher accuracy requirements of low-level detectors, this study aims to propose an imitation learning method based on structural grammar.\u0000\u0000\u0000Design/methodology/approach\u0000The paper proposes a hybrid training model based on artificial immune algorithm and the Baum–Welch algorithm to extract the action information of the demonstration activity to form the {action-object} sequence and extract the symbol description of the scene to form the symbol primitives sequence. Then, probabilistic context-free grammar is used to characterize and manipulate these sequences to form a grammar space. Minimum description length criteria are used to evaluate the quality of the grammar in the grammar space, and the improved beam search algorithm is used to find the optimal grammar.\u0000\u0000\u0000Findings\u0000It is found that the obtained general structure can parse the symbol primitive sequence containing noise and obtain the correct sequence, thereby guiding the robot to perform more complex and higher-order demonstration tasks.\u0000\u0000\u0000Practical implications\u0000Using this strategy, the robot completes the fourth-order Hanoi tower task has been verified.\u0000\u0000\u0000Originality/value\u0000An imitation learning method for robots based on structural grammar is first proposed. The experimental results show that the method has strong generalization ability and good anti-interference performance.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114960318","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}

{"title":"High performance assembly of complex structural parts in special environments – research on space manipulator assisted module docking method","authors":"Yang Liu, Ziyu Chen, Jie Gao, Shuai Gan, Erlong Kang","doi":"10.1108/ria-12-2022-0277","DOIUrl":"https://doi.org/10.1108/ria-12-2022-0277","url":null,"abstract":"\u0000Purpose\u0000Compared with the robotic manipulation in structured environment, high performance assembly of complex parts in extreme special environment is facing great challenges because of the uncertainty in the environment, and the decline of the control accuracy of the robot and the sensor accuracy. The assembly and construction of the space station is a typical case. An important step in the construction of the space station is the module positioning and docking with the auxiliary of the space manipulator. The operation of the manipulator is faced with many problems, such as low sensing information accuracy, large end position deviation and the requirement of weak impact in the docking process. The purpose of this paper is to design a docking method at the strategy level to effectively solve the problems that may be faced in the docking process.\u0000\u0000\u0000Design/methodology/approach\u0000Inspired by the research of robotic high-precision compliant assembly, this paper introduces the concept of Attractive Region in Environment (ARIE) into the space manipulator–assisted module docking. The contact configuration space of the docking mechanism and the existence of ARIE are systematically analyzed. The docking strategy based on ARIE framework is proposed, in which the impedance control is used to ensure the weak impact during the docking process.\u0000\u0000\u0000Findings\u0000For the androgynous peripheral spacecraft docking mechanism, a large range of attractive region exists in the high-dimensional contact configuration space. The docking strategy based on ARIE framework can be designed according to the geometric characteristics of the constraint region and the structural characteristics of the docking mechanism. The virtual models and the simulation environment are established, and the effectiveness of the proposed method is preliminarily verified.\u0000\u0000\u0000Originality/value\u0000Based on the research results of robotic precision compliant manipulation, in this paper, the theory of ARIE is first systematically applied to the analysis of spacecraft docking problem and the design of docking scheme. The effectiveness of the proposed docking method is preliminarily verified for the requirements of large position tolerance and weak impact. The research results will provide theoretical support and technical reference for the assembly and construction of space station and other space manipulator operations.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115951863","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}

{"title":"Stiffness optimization based on muscle fatigue and muscle synergy for passive waist assistive exoskeleton","authors":"Muye Pang, Ruiqing Li, Ying Ding, Biwei Tang, J. Luo, Kui Xiang","doi":"10.1108/ria-08-2022-0221","DOIUrl":"https://doi.org/10.1108/ria-08-2022-0221","url":null,"abstract":"\u0000Purpose\u0000This paper aims to optimize the stiffness coefficient of the elastic element for a passive waist assistive exoskeleton (WAE). There is a tradeoff between stiffness coefficient of elastic element of the exoskeleton and work efficiency of the wearer, because elastic element affects original bending motion of the wearer and the force requirement of erector spinae is compensated by the other muscles. However, there is no accepted conclusion on how to determine the proper stiffness coefficient, especially with respected to the effort of groups of muscles, not only erector spinae.\u0000\u0000\u0000Design/methodology/approach\u0000In this study, a consumption indicator based on muscle fatigue of seven muscles is proposed and a Bayesian-based human-in-the-loop optimization approach is adopted to optimize the stiffness coefficient. Pneumatic artificial muscles are used to replace the mechanical elastic part to adjust the assistive force automatically. The proposed optimization method is verified by the way of load-lifting experiments with three different conditions: without exoskeleton, with fixed air pressure and with optimized air pressure. Six subjects participated in the experiment and each experiment is performed in different day.\u0000\u0000\u0000Findings\u0000Compared with No-Exo condition and static assistance condition, the parameter-optimized waist exoskeleton averagely reduces muscle fatigue of the six subjects by 45.30 ± 29.14% and 30.94 ± 30.29%, respectively. The experimental results indicate that the proposed method is effective to reduce muscle fatigue during stoop lifting task.\u0000\u0000\u0000Originality/value\u0000This paper provides a novel cost function construction method based on muscle fatigue and muscle synergy for passive WAE stiffness optimization.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125016978","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}

{"title":"Design and input saturation control with full-state constraints of lightweight tendon-driven musculoskeletal arm","authors":"Jianbo Yuan, Yerui Fan, Yaxiong Wu","doi":"10.1108/ria-11-2022-0268","DOIUrl":"https://doi.org/10.1108/ria-11-2022-0268","url":null,"abstract":"\u0000Purpose\u0000This study aims to propose a novel lightweight tendon-driven musculoskeletal arm (LTDM-arm) robot with a flexible series–parallel mixed skeletal joint structure and modularized artificial muscle system (MAMS). The proposed LTDM-arm exhibits human-like flexibility, safety and operational accuracy. In addition, to improve the safety and stability of the LTDM-arm, a control method is proposed to solve local artificial muscle overload accidents.\u0000\u0000\u0000Design/methodology/approach\u0000The proposed LTDM-arm comprises seven degrees of freedom skeletons, 15 MAMSs and various sensor systems (joint sensing, muscle tension sensing, visual sensing, etc.). It retains the morphology of a human skeleton (humerus, ulna and radius) and a simplified muscle configuration. This study proposes an input saturation control with full-state constraints to reduce local artificial muscle overload accidents caused by redundant muscle tension calculations.\u0000\u0000\u0000Findings\u00003D circular trajectory experiments were conducted to verify the stability of the control method and the flexibility of the LTDM-arm. The results showed that the average error of the muscle length was approximately 0.35 mm (0.38%), which indicates that the proposed control scheme can make the output follow the target trajectory while ensuring constraint satisfaction.\u0000\u0000\u0000Originality/value\u0000The human arm is capable of performing compliant operations rapidly, flexibly and robustly in unstructured environments. Existing musculoskeletal arm robots lack simulations of the full morphology of the human arm and are insufficient in dexterity. However, the flexibility and safety features of the proposed LTDM-arm were consistent with that of the human arm. Therefore, this study offers a new approach for investigating the advantages of the musculoskeletal system and the concepts of muscle control.\u0000","PeriodicalId":379181,"journal":{"name":"Robotic Intelligence and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128019739","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}