Soft Robotics最新文献_第4页

Design, Modeling, and Application of Reinforced-Airbag-Based Pneumatic Actuators with High Load and Cellular Rearrangement. 基于强化气囊的高载荷和细胞重排气动执行器的设计、建模和应用。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-12-01 Epub Date: 2023-05-04 DOI: 10.1089/soro.2022.0062

Manjia Su, Yu Qiu, Hongkai Chen, Cheng Huang, Yisheng Guan, Haifei Zhu

{"title":"Design, Modeling, and Application of Reinforced-Airbag-Based Pneumatic Actuators with High Load and Cellular Rearrangement.","authors":"Manjia Su, Yu Qiu, Hongkai Chen, Cheng Huang, Yisheng Guan, Haifei Zhu","doi":"10.1089/soro.2022.0062","DOIUrl":"10.1089/soro.2022.0062","url":null,"abstract":"Although various soft pneumatic actuators have been studied, their performance, including load capacity, has not been satisfied yet. Enhancing their actuation capability and using them to develop soft robots with high performance is still an open and challenging issue. In this study, we developed novel pneumatic actuators based on fiber-reinforced airbags as a solution to this problem, of which the maximum pressure reaches more than 100 kPa. Through cellular rearrangement, the developed actuators could bend uni- or bidirectionally, achieving large driving force, large deformation, and high conformability. Hence, they could be used to develop soft manipulators with relatively large payload (up to 10 kg, about 50 times the body self-weight) and soft climbing robots with high mobility. In this article, we first present the design of the airbag-based actuators and then model the airbag to obtain the relationship between the pneumatic pressure, external force, and deformation. Subsequently, we validate the models by comparing the simulated and measured results and test the load capacity of the bending actuators. Afterward, we present the development of a soft pneumatic robot that can rapidly climb horizontal, inclined, and vertical poles with different cross-sectional shapes and even outdoor natural objects, like bamboos, at a speed of 12.6 mm/s generally. In particular, it can dexterously transition between poles at any angle, which, to the best of our knowledge, has not been achieved before.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1083-1098"},"PeriodicalIF":7.9,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9406831","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}

引用次数: 0

A Novel Approach for Optimization of Soft Material Constitutive Model Parameters Based on a Genetic Algorithm and Drucker's Stability Criterion. 基于遗传算法和Drucker稳定性准则的软质材料本构模型参数优化新方法。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-12-01 Epub Date: 2023-06-23 DOI: 10.1089/soro.2022.0145

Luis Cruz-Terán, Leopoldo Ruiz-Huerta, Alex Elias-Zuñiga, Oscar Martínez-Romero, Alberto Caballero-Ruiz

{"title":"A Novel Approach for Optimization of Soft Material Constitutive Model Parameters Based on a Genetic Algorithm and Drucker's Stability Criterion.","authors":"Luis Cruz-Terán, Leopoldo Ruiz-Huerta, Alex Elias-Zuñiga, Oscar Martínez-Romero, Alberto Caballero-Ruiz","doi":"10.1089/soro.2022.0145","DOIUrl":"10.1089/soro.2022.0145","url":null,"abstract":"The growing interest in soft materials to develop flexible devices involves the need to create accurate methodologies to determine parameter values of constitutive models to improve their modeling. In this work, a novel approach for the optimization of constitutive model parameters is presented, which consists of using a genetic algorithm (GA) to obtain a set of solutions from data of uniaxial tensile tests, which are later used to simulate the mechanical test using finite element analysis (FEA) software to find an optimal solution considering Drucker's stability criterion. This approach was applied to the elastomer Ecoflex 00-30 considering the Warner and Yeoh models and Rivlin's phenomenological theory. The correlation between the experimental and the predicted data by the models was determined using the root mean squared error (RMSE), where the found parameter sets provided a close fit to the experimental data with RMSE values of 0.022 (ANSYS) and 0.024 (ABAQUS) for Warner's model, while for Yeoh's model were 0.014 (ANSYS) and 0.012 (ABAQUS). It was found that the best parameter values accurately follow the experimental material behavior using FEA. The proposed GA not only optimizes the material parameters but also has a high reproducibility level with average RMSE values of 0.024 for Warner's model and 0.009 for Yeoh's model, fulfilling Drucker's stability criterion.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1181-1198"},"PeriodicalIF":7.9,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9679367","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}

引用次数: 0

Magnetic Liquid Metal Droplet Robot with Multifunction and High Output Force in Milli-Newton. 多功能高输出力毫牛顿磁性液态金属液滴机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-12-01 Epub Date: 2023-06-16 DOI: 10.1089/soro.2022.0183

Peiran Zhao, Liang Yan, Xiaoshan Gao

{"title":"Magnetic Liquid Metal Droplet Robot with Multifunction and High Output Force in Milli-Newton.","authors":"Peiran Zhao, Liang Yan, Xiaoshan Gao","doi":"10.1089/soro.2022.0183","DOIUrl":"10.1089/soro.2022.0183","url":null,"abstract":"Magnetically actuated miniature robots have immeasurable potential in lab-on-a-chip and biomedical due to their ability to navigate in constrained space. However, current soft robots made by elastomers have limited functionalities and are prevented from very narrow environments such as channel much smaller than their size because of their non- or limited deformability. In this study, a soft and multifunctional robot based on liquid metal (magnetic liquid-metal droplet robot [MLDR]) with high output force is reported. It is fabricated by engulfing iron particles into a Galinstan droplet. By changing the shape and motion of permanent magnets, the MLDR can be reshaped and moved. The MLDR can also be split in batches and merged efficiently. It shows good softness and flexibility when navigating freely in a narrow channel, and thus can pass through a confined space smaller than its size easily. Furthermore, the MLDR can also push and spread the accumulated liquid in a desired path, and manipulate the motions of small objects well. Benefiting from the solidification-like phenomenon, an MLDR can output milli-Newton-level force much higher than the output force of ferrofluid droplet robots in micro-Newton level. The demonstrated capabilities of the MLDR are promising for the applications in lab-on-a-chip or biomedical devices.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1146-1158"},"PeriodicalIF":7.9,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9634985","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}

引用次数: 0

An Ionic Liquid-Based Stretchable Sensor for Measuring Normal and Shear Force. 一种基于离子液体的可拉伸法向力和剪切力传感器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-12-01 Epub Date: 2023-05-02 DOI: 10.1089/soro.2022.0207

Omar Faruk Emon, Hao Sun, Ahadur Rahim, Jae-Won Choi

{"title":"An Ionic Liquid-Based Stretchable Sensor for Measuring Normal and Shear Force.","authors":"Omar Faruk Emon, Hao Sun, Ahadur Rahim, Jae-Won Choi","doi":"10.1089/soro.2022.0207","DOIUrl":"10.1089/soro.2022.0207","url":null,"abstract":"Soft and stretchable force sensors are widely used for health monitoring, robotics, prosthetics, and other applications. Soft force sensors with the capability of measuring both normal and shear force could offer even greater functionality and provide more information, particularly in the field of biomechanics. In this work, a new solid-state force sensor is proposed that can measure both normal and shear forces at the same time. The soft and stretchable sensor was fabricated using an ionic liquid (IL)/polymer network. Two separate IL-based polymer membranes were used to detect normal and shear forces. Sensor architecture and electrical wiring for normal, shear, and combined sensing were developed, and various material compositions for different sensor layers were investigated to find the combination that could achieve the optimum sensor performance. A basic material formulation for carbon nanotube-based electrodes, the IL/polymer network, and polymeric insulation layers was proposed. To configure a combined (normal and shear) sensor, separate sensors for normal and shear deformations were first designed and investigated. Later, a combined sensor was fabricated using a mold via screen printing, photocuring, and thermal curing. The combined sensor was evaluated under different force conditions. The results show that the sensor can reliably measure normal and shear forces. Moreover, the findings demonstrate a way to successfully modulate the sensitivity for normal and shear sensing by varying the material composition or geometric configuration, which provides flexibility for application-specific designs.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1115-1125"},"PeriodicalIF":7.9,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9752780","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}

引用次数: 0

Bio-SHARPE: Bioinspired Soft and High Aspect Ratio Pumping Element for Robotic and Medical Applications. Bio-SHARPE:仿生软和高纵横比泵送元件，用于机器人和医疗应用。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-12-01 Epub Date: 2023-05-02 DOI: 10.1089/soro.2021.0154

James Davies, Mai Thanh Thai, Harrison Low, Phuoc Thien Phan, Trung Thien Hoang, Nigel Hamilton Lovell, Thanh Nho Do

{"title":"Bio-SHARPE: Bioinspired Soft and High Aspect Ratio Pumping Element for Robotic and Medical Applications.","authors":"James Davies, Mai Thanh Thai, Harrison Low, Phuoc Thien Phan, Trung Thien Hoang, Nigel Hamilton Lovell, Thanh Nho Do","doi":"10.1089/soro.2021.0154","DOIUrl":"10.1089/soro.2021.0154","url":null,"abstract":"The advent of soft robots has solved many issues posed by their rigid counterparts, including safer interactions with humans and the capability to work in narrow and complex environments. While much work has been devoted to developing soft actuators and bioinspired mechatronic systems, comparatively little has been done to improve the methods of actuation. Hydraulically soft actuators (HSAs) are emerging candidates to control soft robots due to their fast responses, low noise, and low hysteresis compared to compressible pneumatic ones. Despite advances, current hydraulic sources for large HSAs are still bulky and require high power availability to drive the pumping plant. To overcome these challenges, this work presents a new bioinspired soft and high aspect ratio pumping element (Bio-SHARPE) for use in soft robotic and medical applications. This new soft pumping element can amplify its input volume to at least 8.6 times with a peak pressure of at least 40 kPa. The element can be integrated into existing hydraulic pumping systems like a hydraulic gearbox. Naturally, an amplification of fluid volume can only come at the sacrifice of pumping pressure, which was observed as a 19.1:1 reduction from input to output pressure. The new concept enables a large soft robotic body to be actuated by smaller fluid reservoirs and pumping plant, potentially reducing their power and weight, and thus facilitating drive source miniaturization. The high amplification ratio also makes soft robotic systems more applicable for human-centric applications such as rehabilitation aids, bioinspired untethered soft robots, medical devices, and soft artificial organs. Details of the fabrication and experimental characterization of the Bio-SHARPE and its associated components are given. A soft robotic squid and an artificial heart ventricle are introduced and experimentally validated.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1055-1069"},"PeriodicalIF":7.9,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9752781","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}

引用次数: 0

Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications. 用于软机器人应用的可调谐、基于纺织品的关节阻抗模块。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-04-12 DOI: 10.1089/soro.2021.0173

Ciarán T O'Neill, Harrison T Young, Cameron J Hohimer, Tommaso Proietti, Mo Rastgaar, Panagiotis Artemiadis, Conor J Walsh

{"title":"Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications.","authors":"Ciarán T O'Neill, Harrison T Young, Cameron J Hohimer, Tommaso Proietti, Mo Rastgaar, Panagiotis Artemiadis, Conor J Walsh","doi":"10.1089/soro.2021.0173","DOIUrl":"10.1089/soro.2021.0173","url":null,"abstract":"The design of soft actuators is often focused on achieving target trajectories or delivering specific forces and torques, rather than controlling the impedance of the actuator. This article outlines a new soft, tunable pneumatic impedance module based on an antagonistic actuator setup of textile-based pneumatic actuators intended to deliver bidirectional torques about a joint. Through mechanical programming of the actuators (select tuning of geometric parameters), the baseline torque to angle relationship of the module can be tuned. A high bandwidth fluidic controller that can rapidly modulate the pressure at up to 8 Hz in each antagonistic actuator was also developed to enable tunable impedance modulation. This high bandwidth was achieved through the characterization and modeling of the proportional valves used, derivation of a fluidic model, and derivation of control equations. The resulting impedance module was capable of modulating its stiffness from 0 to 100 Nm/rad, at velocities up to 120°/s and emulating asymmetric and nonlinear stiffness profiles, typical in wearable robotic applications.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"937-947"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9337689","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}

引用次数: 0

Macro Fiber Composite-Actuated Soft Robotic Fish: A Gray Box Model-Predictive Motion Planning Strategy Under Limited Actuation. 宏纤维复合材料驱动的软体机器人鱼：有限驱动下的灰盒模型预测运动规划策略。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-03-23 DOI: 10.1089/soro.2022.0061

Arthur Silva Barbosa, Maíra Martins da Silva

引用次数: 2

Nonbiomorphic Passively Adaptive Swimming Robot Enables Agile Propulsion in Cluttered Aquatic Environments. 非生物形态被动自适应游泳机器人在杂乱的水生环境中实现敏捷推进。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-07-17 DOI: 10.1089/soro.2022.0063

Bangyuan Liu, Frank L Hammond

{"title":"Nonbiomorphic Passively Adaptive Swimming Robot Enables Agile Propulsion in Cluttered Aquatic Environments.","authors":"Bangyuan Liu, Frank L Hammond","doi":"10.1089/soro.2022.0063","DOIUrl":"10.1089/soro.2022.0063","url":null,"abstract":"Aquatic swimmers, whether natural or artificial, leverage their maneuverability and morphological adaptability to operate successfully in diverse, complex underwater environments. Maneuverability allows swimmers the agility to change speed and direction within a constrained operating space, while morphological adaptability allows their bodies to deform as they avoid obstacles and pass through narrow gaps. In this work, we design a soft, modular, nonbiomorphic swimming robot that emulates the maneuverability and adaptability of biological swimmers. This tethered swimming robot is actuated by a two degree-of-freedom (2-DOF) cable-driven mechanism that enables not only common maneuvers, such as undulatory surging and pitch/yaw rotations, but also a roll rotation maneuver that is steady and controllable. This simple 2-DOF system demonstrates full 3D swimming abilities in a space-constrained underwater test bed. The soft compliant body and passive foldable fins of the swimming robot lend to its morphological adaptability, allowing it to move through narrow gaps, channels, and tunnels and to avoid obstacles without the need for a low-level feedback control strategy. The passive adaptability and maneuvering capabilities of our swimming robot offer a new approach to achieving underwater navigation in complex real-world settings.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"884-896"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10061416","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}

引用次数: 0

Reconfigurable Soft Pneumatic Actuators Using Extensible Fabric-Based Skins. 使用可扩展织物蒙皮的可重构软气动执行器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-04-12 DOI: 10.1089/soro.2022.0089

Ajinkya Bhat, Shobhit Sandeep Jaipurkar, Li Ting Low, Raye Chen-Hua Yeow

{"title":"Reconfigurable Soft Pneumatic Actuators Using Extensible Fabric-Based Skins.","authors":"Ajinkya Bhat, Shobhit Sandeep Jaipurkar, Li Ting Low, Raye Chen-Hua Yeow","doi":"10.1089/soro.2022.0089","DOIUrl":"10.1089/soro.2022.0089","url":null,"abstract":"The development of the field of soft robotics has led to the exploration of novel techniques to manufacture soft actuators, which provide distinct advantages for wearable assistive robotics. One subset of these soft pneumatic actuators is conventionally developed from silicone, fabrics, and thermoplastic polyurethane (TPU). Each of these materials in isolation possesses limitations of low-stress capacity, low-design complexity, and high-input pressure requirements, respectively. Combining these materials can overcome some limitations and maintain their desirable properties. In this article, we explore one such composite design scheme using a combination of silicone polymer-based bladder and reconfigurable fabric skin made from an anisotropic extensible fabric. The silicone polymer bladder acts as the hermetic seal, while this skin acts as the constraint. Bending and torsional actuators were designed utilizing the anisotropy of these fabrics. The torsional actuator designs can achieve over 540° of twist, significantly larger than previously reported in the literature, owing to the lower mechanical impedance of the extensible fabrics. Actuators with 360° of bending were also fabricated using this method. In addition, the lack of TPU-backed or inextensible fabrics reduces the actuator's stiffness, leading to lower actuation pressures. Skin-based designs also confer the advantage of modularity, reconfigurability, and the ability to achieve complex motions by tuning the properties of the bladder and the skin. For applications with high-force requirements, such as wearable exoskeletons, we demonstrate the utility of multilayer design schemes. A multilayer bending actuator generated 190 N of force at 100 kPa and was shown to be a candidate for wearable assistive devices. In addition, torsional designs were shown to have utility in practical scenarios such as screwing on a bottle cap and turning knobs. Thus, we present a novel fabric-skin-based design concept that is highly versatile and customizable for various application requirements.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"923-936"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9337693","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}

引用次数: 0

Nonlinear Multimaterial Architecture for Greater Soft Material's Toughness and Delaying Damage Propagation. 用于提高软材料韧性和延迟损伤传播的非线性多材料体系结构。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-05-12 DOI: 10.1089/soro.2021.0205

Marwa ElDiwiny, Seppe Terryn, Svetlana Verbruggen, Bram Vanderborght

{"title":"Nonlinear Multimaterial Architecture for Greater Soft Material's Toughness and Delaying Damage Propagation.","authors":"Marwa ElDiwiny, Seppe Terryn, Svetlana Verbruggen, Bram Vanderborght","doi":"10.1089/soro.2021.0205","DOIUrl":"10.1089/soro.2021.0205","url":null,"abstract":"Designing soft robots that have greater toughness and better resistance to damage propagation while at the same time retaining their properties of compliance is fundamentally important for soft robotics applications. This study's main contribution is proposing a framework for nonlinear multimaterial architectural design of soft structures to increase their toughness and delay damage propagation. What are the limits when combining significantly different materials in one structure that will delay crack propagation while significantly maintaining postdamage toughness? Through this study, we observed that there is a very dynamic interplay when combining significantly different materials in one structure; this interplay could weaken or strengthen the multimaterial structure's toughness. In biological evolutionary terms, the Pangolin, Seashell, and Arapaima have found their answer for deflecting the crack and maintaining strength in their bodies. How does nature put these multimaterial structures together? Our research led us to find that the multimaterial toughness limits depend largely on the following parameters: components' relative morphology, architecture, spatial distribution, surface areas, and Young's Modulus. We found that a linear geometry, when it comes to morphology and/or architecture relative to surface area in multimaterial design, significantly reduces total toughness and fails to delay crack propagation. In contrast, incorporating geometric nonlinearities in both morphology and architecture significantly maintains higher total toughness even after damage, and significantly delays crack propagation. We believe that this study can open the door to further research and ultimately to promising and wide applications in soft robotics.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"959-971"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9803805","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}

引用次数: 0