Sudovoždenie最新文献

{"title":"DYNAMIC MODELLING PROCESS OF ENVIRONMENT ON VESSEL MOVE WITH USING RIS TECHNOLOGIES","authors":"I. Gladkih, V. Dvoretsky, V. Shpylevsky","doi":"10.31653/2306-5761.34.2023.35-51","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.35-51","url":null,"abstract":"Remote methods of Earth’s surface research have become widely used in the 21st century, as they allow for a larger and more comprehensive observation area. These methods can provide valuable information about various Earth objects and phenomena, such as the changes in bottom topography in shallow water under navigation conditions. This article presents a novel approach to forecasting these changes by using natural processes as indicators and developing programs that can track and display them on electronic devices. The article introduces the concept of “scale factor” to determine the significance of different dynamic processes for the research, depending on their spatial and temporal dimensions. The article also proposes a dynamic map modelling method that can predict the siltation of the sea/river bottom for a given period of time and improve the model by comparing the forecast with the actual result. The article suggests that research should take into account the changes in the object over time and under the influence of various factors in a dynamic way. Based on the research, we draw the following conclusions: 1. The “scale factor” should be applied in dynamic navigation map research and compilation using different-scale data of the water surface and bottom topography; 2. A dynamic component should be added to the information block of the navigation cartographic systems ECDIS and Inland ECDIS, enabling the navigator to see the position of the vessel, taking into account the wave height relative to the bottom in real time; 3. The methods of parallel bottom topography transferring rely only on the data of statistical observations using iterations. These methods usually work well on sandy and silty soils, where the relief has clear wave-like forms, as well as frequent external influences following the main general direction. Keywords: RIS, dynamic processes, \"scale factor\", \"chart dynamic model\", ECDIS.","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"235 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136231052","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":"WAYS TO IMPROVE THE STEERING OF LARGE CONTAINER SHIPS IN DIFFICULT NAVIGATIONAL AND HYDROMETEOROLOGICAL CONDITIONS","authors":"V.S. Davydov, I.O. Liubarets","doi":"10.31653/2306-5761.34.2023.52-58","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.52-58","url":null,"abstract":"The article examines the challenges of operating large container ships in difficult navigational and hydrometeorological conditions. The latest research and publications on the peculiarities of such vessels, such as their large windage area, which depends on their size and carrying capacity are reviewed. Some cases of maneuvering large container ships and the reasons why they become almost uncontrolled at low speeds even with little wind are analysed. The article also discusses the features of the engines and propulsion of these ships, which limit their minimum speed and affect their controllability. The article shows how the rudder and propeller interact with the wind force to create a torque that influences the ship’s stability. A mathematical condition for maintaining the ship’s controllability under wind influence is provided. The article suggests some promising ways of increasing the safety of large container ships by using navigation and control systems, tugs, and new rules for regulating their movement. Attention was drawn to the need to use optical-electronic observation of space satellites to monitor the weather conditions in the busiest sea routes and to predict the weather changes that may affect the ship’s operation. This way, it will be possible to forecast the weather for the next day with sufficient accuracy, which is essential for the safe navigation of canals, challenging areas or port calls of large vessels. Keywords: navigation safety, control and navigation, container ship, windage area of the ship.","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136230785","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":"RISK ANALYSIS OF THE CONTAINER FLEET IN THE CONTEXT OF THE MARITIME OPERATIONS’ SAFETY IMPROVEMENT","authors":"N. Konon, V. Konon","doi":"10.31653/2306-5761.34.2023.79-92","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.79-92","url":null,"abstract":"Nowadays container transportation occupies more than 90% of the non-bulk cargo market. At the same time, the growing demand for the transportation of this type of cargo contributes to the replenishment of the container fleet with extra-large container ships. It was determined that between 2011 and 2019, the volume of the container fleet had increased by about 15% with the respective part of the vessels over 10,000 TEU by approximately 500%. On the other hand, despite the advantages of containerized cargo transportation, the intensification of maritime transport flows, the increase in the number of cargoes, the growth of ship sizes, constant changes in the maritime industry, as well as human errors are the factors that increase the risks of maritime accidents. The present study is aimed at analyzing the risks inherent to the container fleet to determine ways of safety improvement in the industry. Since the formulated direction covers a wide range of tasks, this article attempts to focus on the issue of navigational safety, sea container transportation and the influence of the human factor. In the course of the study, the grouping of various types of emergency situations on the container fleet was carried out in accordance with the appropriate categories for the further determination of cause-and-effect relationships and the formation of a fault tree for the purpose of maritime operations' analysis in general. The formation of the specified model provides an opportunity for the determination of independent factors contributing to the development of emergencies at the first approximation. Within the framework of the established goal, the work presents the relevant risk matrix, scales for assessing the probability and consequences of a potentially dangerous situation, the risk assessment in accordance with the identified factors, and the pre-formulated means of control and minimization of such risks. Keywords: safety of cargo transportation, navigational safety, containerized cargo, risk analysis, human factor.","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136231050","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":"ENSURING OPERATIONAL RESILIENCE OF SATELLITE NAVIGATION AT SEA","authors":"V. Konovets, E. Pleshko","doi":"10.31653/2306-5761.34.2023.66-78","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.66-78","url":null,"abstract":"The article examines the challenges of global navigation satellite systems (GNSS) functioning at sea under unintentional and intentional interference. The article reviews the vulnerability of GNSS, the methods of protection against interference and the ways of mitigating their impact based on the marine concept of positioning, navigation and time synchronization (PNT). The main goal of this concept is the guaranteed obtaining of reliable data on coordinates, navigation and exact time due to the combined use and comparison of indication for disparate systems and sensors under the influence of natural or intentional interference (attacks) on ship's GNSS equipment. The article analyzes various open sources of information to identify two methods of ensuring the integrity and accuracy of PNT data according to IMO documents and standards. The first method is the detection and direct countermeasures against attacks on shipboard GNSS equipment. The article determines that the most common and easy-to-implement type of attacks are jamming attacks of satellite signals, unlike the more complex and challenging spoofing attacks. The main approach to protection against jamming attacks is spatial signal processing using adaptive marine antenna arrays with a controlled pattern. Examples of modern practical developments of adaptive antenna arrays are given. The second method to ensure reliable PNT data is the use of alternative navigation systems, redundant capabilities and non-traditional methods using the existing systems. Technical solutions in this method have limitations due to the requirements for the vessel’s conventional navigation and radio communication installation. IMO has suggested structures of multisensor and multisystem receivers for obtaining reliable PNT data. These structures combine primary data from different systems based on different principles, such as satellite, terrestrial and augmented correction systems, vessel navigation data and reference systems. The processed PNT data must be accompanied by accuracy and integrity indicators. Keywords: positioning, navigation, time synchronization, jamming, spoofing, spatial processing, antenna arrays, cyber risks, information protection.","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"324 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136230789","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 METHOD FOR FORMALIZING THE DECISION-MAKING PROCESS FOR PREVENTING DANGEROUS SITUATIONS IN THE E-NAVIGATION SYSTEM","authors":"O. Levchenko","doi":"10.31653/2306-5761.34.2023.115-126","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.115-126","url":null,"abstract":"The study aims to improve the safety of ship traffic by improving the methods of formalizing the decision-making process for preventing dangerous situations in a single e-navigation concept. The goal is achieved by a clear statement of the problem and the choice of appropriate approaches to its solution. The main stages of the decision-making cycle performed by the navigator in collision prevention are analysed. Particular attention is paid to the operations performed at the decisionmaking stage on the further movement of the vessel. The ship's movement plan is described by models of elementary behaviour, each of which consists of elementary actions represented by a set of fuzzy logic rules for performing a certain subtask. The structure of a system that implements the behavioural approach to decision-making by a navigator is proposed. Emphasis is placed on the need to coordinate vessels when deciding to plan a route based on models of elementary behaviours, and a method for coordinating the planning of the vessel's trajectory is developed. The sequence of stages of the method for coordinating the planning of the ship's trajectory is performed cyclically until the target point of the route is reached. At each stage of the vessel's movement, the navigation obstacles and other vessels entering the area of interest of the navigator are monitored and potential hazards from them are identified. A method for tracing the vessel's movement and existing vessels in the navigator’s interest area has been developed, which allows for predicting the location at subsequent moments and identifying the coordinates of the conflict site where a situation of dangerous proximity occurs. To formalize the areas dangerous for vessel traffic, a method for generating a map of navigational hazards and conflict situations in the navigator’s interest area has been developed, based on a modified method of potential fields. To formally describe the space, only the concept of a potential function is used to represent the space as a matrix of values. The most significant scientific result is the proposed approach to solving the problem of supporting the decision-making of a navigator based on a combination of methods using fuzzy logic and allowed domains, which allows obtaining options for actions that ensure the safety of ship movement in a dangerous situation. Keywords: ship, navigator, collision, navigation situation, navigation systems, e-navigation, tracing method, navigation hazard, navigation hazard map","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136230784","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":"DANGER OF USІNG AUTONOMOUS SHIPS","authors":"O. Volkov, O. Petrychenko, Y. Vlasenko","doi":"10.31653/2306-5761.34.2023.21-34","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.21-34","url":null,"abstract":"The increasing automation of navigation is a key trend in the modern world, but it also poses significant challenges and risks for maritime safety. However, the use of terms such as ‘remote operation’, ‘automation’, ‘autonomy’, ‘artificial intelligence’, ‘unmanned ships’, ‘autonomous ships’, ‘cyber-enabled ships’, and ‘smart ships’ has created significant terminological confusion. This article is devoted to a generalized concept of autonomous vessels and their potential risks. This may lead to misunderstandings and inconsistencies in this area, which, in turn, can create a threat to maritime safety. A necessity of being defined and gaining a detailed explanation of some conceptions related to autonomous navigation exists. Moreover, legal problems should be described. For conceptual basis not only the identification of three different automation elements of the ship are used, but also a legal aspect between an autonomous voyage under the ship`s operator control to an autonomous voyage with limitations is considered. These aspects include legal, technicaltechnological, navigational, safety, economic, cyber-physical, and ecological-technogenic consequences. An autonomous`s volume affects the reduction of crew members onboard. Due to the permanent reduction in the number of ship`s crew members the necessity of IT- technologies is being extended, because (of this reduction) tasks have to be executed remotely, or by the autonomous` level increasing. In addition, the reduction of the quantity of ship`s crew members to zero people demands new requirements of intellectual ship intelligence technologies, even if a ship is intended for permanent distance control. The analysis of the autonomous ship general conception has defined some legal collisions which nowadays do not allow to assume full functioning of pilotless autonomous ships. The article argues that autonomous ships are a complex and multidimensional phenomenon that requires comprehensive and interdisciplinary research and analysis. Keywords: autonomous ships, automation, autonomy, сyber-enabled ships, remote operation, remote operability, safe maneuvering.","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136230783","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":"MATHEMATICAL MODELLING OF SHIP'S RUDDERS OPERATION UNDER VARIOUS MANEUVERING MODES","authors":"O.F. Kryvyi Яцык, M.V. Miyusov, M.O. Kryvyi","doi":"10.31653/2306-5761.34.2023.93-114","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.93-114","url":null,"abstract":"The availability of adequate mathematical models of the ship propulsion system is essential for developing effective ship control systems, building high-quality simulators, and studying the ship’s maneuvering behavior. With the advancement of new computing and information technologies, the mathematical models of the ship propulsion system need to meet higher requirements and cover wider applications. This leads to the need for continuous improvement of mathematical models, especially those of non-inertial forces acting on the ship. This work investigates the influence of the ship’s curvilinear movement on the rudder performance. Mathematical models of the forces and moments acting on the rudder at different values of the local drift angle and the rudder angle are derived. The resultant force on the rudder is decomposed into components due to the rudder lift, drag, normal force, and tangential force. Expressions for the coefficients of rudder hydrodynamic quality, reverse quality, and normal force are obtained. The existing mathematical models of the rudder hydrodynamic coefficients are analyzed and their limitations and applicability are discussed. New mathematical models of the rudder lift and drag coefficients are proposed, which take into account the aspect ratio, relative thickness, and angle of attack of the rudder. The proposed models are validated by comparing them with experimental data for NACA series rudders. t is shown how the lift and drag of the rudder, as well as the components of the resulting force, change for the maximum possible range of changes in the local drift angle and the rudder angle, for different values of the rudder aspect ratio and relative thickness. Keywords: mathematical models, ship rudders, curvilinear movement, longitudinal and transverse components of forces, dimensionless hydrodynamic coefficients.","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136230788","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":"FEATURES OF THE SHIP’S HANDLING DURING NAVIGATION IN PORT WATERS IN THE CONTEXT OF THE SEAFARERS' TRAINING AND COMPETENCY VERIFICATION","authors":"V. Pernykoza, N. Konon, O. Burchak, V. Konon","doi":"10.31653/2306-5761.34.2023.127-139","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.127-139","url":null,"abstract":"Establishment of the appropriate communication with the pilot, exchange of all the necessary information for the safe passage of the vessel, awareness by all responsible parties of their duties and the correspondence of their competency to the positions held, as well as knowledge and understanding, among other aspects, of the elements of bridge resource management theory, not only do not lose but even acquire greater relevance today. This fact is confirmed not only in practice but is also reflected in the relevant statistical materials. This partially appears in the following: despite the recommendations of the International Maritime Organization (IMO), other sources and the requirements of the relevant regulatory documents, many ship captains put too much trust in pilots when maneuvering the ship in port waters or channels. This paper examines the issue of sailing in port and inland waters from the perspective of the human factor's influence when using pilot services. The effectiveness of training for seafarers in the first approach has been evaluated with the aim of increasing the level of navigational safety and promoting responsibility awareness for all parties involved with regard to their duties, as well as assessment of their competency. In accordance with the obtained results, only 9.7% of seafarers out of the total number of participants were able to complete the set task of exiting the port water area in the Bay of Haydarpaşa (Istanbul, Turkey) and the Bosporus Strait in a safe and successful way on the first attempt and without pilot’s and/or tugs’ assistance. At the same time, this task did not cause difficulties for the respondents who undergo regular training in their companies and increase their level of competence. The experiment was conducted using a navigational simulator by means of simulation modelling methods. Keywords: ship handling, pilotage, certification and training, competence assessment.","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136231051","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":"DETERMINATION OF MANEUVER TO RETURN TO THE PASSAGE ROUTE","authors":"L.L. Vagushchenko, A.J. Kozachenko","doi":"10.31653/2306-5761.34.2023.10-20","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.10-20","url":null,"abstract":"This study presents an algorithmic approach to finding an effective -maneuver for multi-ship situations, where a ship deviates from its transition route to avoid collision with other vessels. The proposed algorithm involves the enumeration of a representative discrete set of solutions to find a - maneuver that ensures a safe return to the transition route. The maneuver starts at the minimum distance from the own ship and has the required lateral distance and angle of approach to the route. The algorithm also addresses situations with several targets by introducing virtual targets and automatically finding a maneuver that avoids collision. To aid decision-making, the study develops a two-dimensional matrix that provides the coordinates of the angle of approach to the route and the distance from the own ship to the start of the maneuver, where the cross-track distance is equal to a given value. The matrix presents the sufficient, acceptable, and unacceptable -maneuver variants based on the shortest distance from the own ship to the targets. The matrix is represented by a color-coded diagram that allows for easy selection of a suitable maneuver providing the necessary offset from the track line. The study accounts for the dynamics of the own ship in a simplified way by assuming that course changes are made within a given radius. To validate the proposed algorithms, a program was implemented in Delphi programming language, and tests were carried out in various multi-ship situations. The results confirmed the effectiveness of the proposed algorithms in selecting - maneuvers for returning to the transition route while avoiding collisions. In summary, the study presents a novel algorithmic approach for selecting an effective - maneuver in multi-ship situations, accounting for the dynamics of the own ship and using a colorcoded diagram for easy selection. The proposed algorithms have been validated through simulations, highlighting their potential for improving the safety and efficiency of maritime navigation. Keywords: collision avoidance, -manoeuver, enumerative method, diagram to select manoeuver.","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136230786","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":"MANEUVER OF RETURNING THE VESSEL TO THE SET TRACK AFTER PASSING THE TARGET","authors":"T. Kalinichenko, O. Tymoshchuk","doi":"10.31653/2306-5761.34.2023.59-65","DOIUrl":"https://doi.org/10.31653/2306-5761.34.2023.59-65","url":null,"abstract":"This paper proposes a method of decomposing a set of initial bearings into subsets, each of which corresponds to a type of vessel passing strategy based on their initial parameters and the nature of the close-quarters situation. The method aims to perform a vessel evasive action and return it to the programmed (given) course. The paper investigates the problem of collision avoidance between vessels during their passing using methods of the theory of optimal discrete processes. The paper determines the most hazardous initial vessel bearing in a situation of approaching a target (another vessel, hereafter referred to as the target vessel or TV) by decomposing the set of initial bearings into subsets based on vessel movement and distance between them in the case of a close-quarters situation. The paper examines in detail the process of vessel evasive action in a close-quarters situation with a target vessel using computer simulation models in various initial conditions to choose the most optimal safe vessel passing strategy. The paper discusses the peculiarity of choosing possible safe vessel passing strategies. The paper examines different types of vessel return courses to the programmed course, depending on the situation of close-quarters situation with a target vessel, using computer simulation models. The paper determines possible risks and hazards that arise when returning the vessel to the given course during the safe vessel passing process with a target vessel. The paper presents examples of typical vessel passing situations with a target vessel at short distances using computer simulation models, including the circling maneuver of a vessel during passing with another vessel and overtaking maneuver of one vessel by another. Keywords: safety of navigation, prevention of collision of vessels, passing of vessels by evasion, the maneuver of returning the vessel to the programmed track.","PeriodicalId":472922,"journal":{"name":"Sudovoždenie","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136230787","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}