Soft Robotics最新文献_第5页

Selaginella lepidophylla-Inspired Multi-Stimulus Cooperative Control MXene-Based Flexible Actuator. 受卷柏启发的基于MXene的多刺激协同控制柔性执行器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-06-19 DOI: 10.1089/soro.2022.0140

Xiang Li, Ze Wu, Bingjue Li, Youqiang Xing, Peng Huang, Lei Liu

{"title":"Selaginella lepidophylla-Inspired Multi-Stimulus Cooperative Control MXene-Based Flexible Actuator.","authors":"Xiang Li, Ze Wu, Bingjue Li, Youqiang Xing, Peng Huang, Lei Liu","doi":"10.1089/soro.2022.0140","DOIUrl":"10.1089/soro.2022.0140","url":null,"abstract":"Predictable bending deformation, high cycle stability, and multimode complex motion have always been the goals pursued in the field of flexible robots. In this study, inspired by the delicate structure and humidity response characteristics of Selaginella lepidophylla, a new multilevel assisted assembly strategy was developed to construct MXene-CoFe2O4 (MXCFO) flexible actuators with different concentration gradients, to achieve predictable bending deformation and multi-stimulus cooperative control of the actuators, revealing the intrinsic link between the gradient change and the bending deformation ability of the actuator. The thickness of the actuator shows uniformity compared with the common layer-by-layer assembly strategy. And, the bionic gradient structured actuator shows high cycle stability, and it maintains excellent interlayer bonding after bending 100 times. The flexible robots designed based on the predictable bending deformation and the multi-stimulus cooperative response characteristics of the actuator initially realize conceptual models of humidity monitoring, climbing, grasping, cargo transportation, and drug delivery. The designed bionic gradient structure and unbound multi-stimulus cooperative control strategy may show great potential in the design and development of robots in the future.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"861-872"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9667350","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

Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation. 通过不稳定性和分叉实现具有可变体轴柔性的Myriapod机器人的机动高效运动。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-05-24 DOI: 10.1089/soro.2022.0177

Shinya Aoi, Yuki Yabuuchi, Daiki Morozumi, Kota Okamoto, Mau Adachi, Kei Senda, Kazuo Tsuchiya

{"title":"Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation.","authors":"Shinya Aoi, Yuki Yabuuchi, Daiki Morozumi, Kota Okamoto, Mau Adachi, Kei Senda, Kazuo Tsuchiya","doi":"10.1089/soro.2022.0177","DOIUrl":"10.1089/soro.2022.0177","url":null,"abstract":"Legged robots have remarkable terrestrial mobility, but are susceptible to falling and leg malfunction during locomotion. The use of a large number of legs, as in centipedes, can overcome these problems, but it makes the body long and leads to many legs being constrained to contact with the ground to support the long body, which impedes maneuverability. A mechanism for maneuverable locomotion using a large number legs is thus desirable. However, controlling a long body with a large number of legs requires huge computational and energy costs. Inspired by agile locomotion in biological systems, this study proposes a control strategy for maneuverable and efficient locomotion of a myriapod robot based on dynamic instability. Specifically, our previous study made the body axis of a 12-legged robot flexible and showed that changing the body-axis flexibility produces pitchfork bifurcation. The bifurcation not only induces the dynamic instability of a straight walk but also a transition to a curved walk, whose curvature is controllable by the body-axis flexibility. This study incorporated a variable stiffness mechanism into the body axis and developed a simple control strategy based on the bifurcation characteristics. With this strategy, maneuverable and autonomous locomotion was achieved, as demonstrated by multiple robot experiments. Our approach does not directly control the movement of the body axis; instead, it controls body-axis flexibility, which significantly reduces computational and energy costs. This study provides a new design principle for maneuverable and efficient locomotion of myriapod robots.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1028-1040"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10616954/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9522847","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}

引用次数: 0

A Hybrid Anchoring Technology Composed of Reinforced Flexible Shells for a Knee Unloading Exosuit. 一种用于膝关节卸载外装的由增强柔性壳组成的混合锚固技术。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-05-08 DOI: 10.1089/soro.2021.0223

Sung-Sik Yun, Christian William Bundschu, Kyu-Jin Cho

{"title":"A Hybrid Anchoring Technology Composed of Reinforced Flexible Shells for a Knee Unloading Exosuit.","authors":"Sung-Sik Yun, Christian William Bundschu, Kyu-Jin Cho","doi":"10.1089/soro.2021.0223","DOIUrl":"10.1089/soro.2021.0223","url":null,"abstract":"Soft robotic wearables have emerged as an ergonomic alternative to rigid robotic wearables, commonly utilizing tension-based actuation systems. However, their soft structure's natural tendency to buckle limits their use for compression bearing applications. This study presents reinforced flexible shell (RFS) anchoring, a compliant, low-profile, ergonomic wearable platform capable of high compression resistance. RFS anchors are fabricated with soft and semirigid materials that typically buckle under compressive loads. Buckling is overcome using the wearer's leg as a support structure, reinforcing the shells with straps, and minimizing the space between the shells and the wearer's skin-enabling force transmission orders of magnitude larger. RFS anchoring performance was evaluated comparatively by examining the shift-deformation profiles of three identically designed braces fabricated with different materials: rigid, strapped RFS, and unstrapped RFS. The unstrapped RFS severely deformed before 200 N of force could be applied. The strapped RFS successfully supported 200 N of force and exhibited a nearly identical transient shift-deformation profile with the rigid brace condition. RFS anchoring technology was applied to a compression-resistant hybrid exosuit, Exo-Unloader, for knee osteoarthritis. Exo-Unloader utilizes a tendon-driven linear sliding actuation system that unloads the medial and lateral compartments of the knee. Exo-Unloader can deliver 200 N of unloading force without deforming, as indicted by its similar transient shift-deformation profile with a rigid unloader baseline. Although rigid braces effectively withstand and transmit high compressive loads, they lack compliance; RFS anchoring technology expands the application of soft and flexible materials to compression-based wearable assistive systems.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"873-883"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9800479","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

Soft Electromagnetic Motor and Soft Magnetic Sensors for Synchronous Rotary Motion. 用于同步旋转运动的软电磁电机和软磁传感器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-03-28 DOI: 10.1089/soro.2022.0075

Noah D Kohls, Roman Balak, Bryan P Ruddy, Yi Chen Mazumdar

{"title":"Soft Electromagnetic Motor and Soft Magnetic Sensors for Synchronous Rotary Motion.","authors":"Noah D Kohls, Roman Balak, Bryan P Ruddy, Yi Chen Mazumdar","doi":"10.1089/soro.2022.0075","DOIUrl":"10.1089/soro.2022.0075","url":null,"abstract":"To create fully-soft robots, fully-soft actuators are needed. Currently, soft rotary actuator topologies described in the literature exhibit low rotational speeds, which limit their applicability. In this work, we describe a novel, fully-soft synchronous rotary electromagnetic actuator and soft magnetic contact switch sensor concept. In this study, the actuator is constructed using gallium indium liquid metal conductors, compliant permanent magnetic composites, carbon black powders, and flexible polymers. The actuator also operates using low voltages (<20 V, ≤10 A), has a bandwidth of 10 Hz, a stall torque of 2.5-3 mN·m, and no-load speed of up to 4000 rpm. These values show that the actuator rotates at over two orders-of-magnitude higher speed with at least one order-of-magnitude higher output power than previously developed soft rotary actuators. This unique soft rotary motor is operated in a manner similar to traditional hard motors, but is also able to stretch and deform to enable new soft robot functions. To demonstrate fully-soft actuator application concepts, the motor is incorporated into a fully-soft air blower, fully-soft underwater propulsion system, fully-soft water pump, and squeeze-based sensor for a fully-soft fan. Hybrid hard and soft applications were also tested, including a geared robotic car, pneumatic actuator, and hydraulic pump. Overall, this work demonstrates how the fully-soft rotary electromagnetic actuator can bridge the gap between the capabilities of traditional hard motors and novel soft actuator concepts.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"912-922"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9282545","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: 1

Design and Development of a Continuum Robot with Switching-Stiffness. 具有切换刚度的连续体机器人的设计与开发。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-05-04 DOI: 10.1089/soro.2022.0179

Donghua Shen, Qi Zhang, Yali Han, Chunlei Tu, Xingsong Wang

{"title":"Design and Development of a Continuum Robot with Switching-Stiffness.","authors":"Donghua Shen, Qi Zhang, Yali Han, Chunlei Tu, Xingsong Wang","doi":"10.1089/soro.2022.0179","DOIUrl":"10.1089/soro.2022.0179","url":null,"abstract":"Continuum robots have the advantages of agility and adaptability. However, existing continuum robots have limitations of low stiffness and complex motion modes, and the existing variable stiffness methods cannot achieve a wide range of stiffness changes and fast switching stiffness simultaneously. A continuum robot structure, switching stiffness method, and motion principle are proposed in this article. The continuum robot is made up of three segments connected in series. Each segment comprises multiple spherical joints connected in series, and the joints can be locked by their respective airbag. A valve controls each airbag, quickly switching the segment between rigidity and flexibility. The motion of the segments is driven by three cables that run through the robot. The segment steers only when it is unlocked. When a segment becomes locked, it acts as a rigid body. As a result, by locking and unlocking each segment in sequence, the cables can alternately drive all the segments. The stiffness variation and movement of the continuum robot were tested. The segment's stiffness varies from 36.89 to 1300.95 N/m and the stiffness switching time is 0.25-0.48 s. The time-sharing control mode of segment stiffness and motion is validated by establishing a specific test platform and a mathematical model. The continuum robot's flexibility is demonstrated by controlling the fast bending of different segments sequentially.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1015-1027"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9464185","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 Variable Stiffness Gripper with Reconfigurable Finger Joint for Versatile Manipulations. 一种具有可重构手指关节的变刚度夹具，适用于多种操作。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-04-26 DOI: 10.1089/soro.2022.0148

Huan Wang, Bingtuan Gao, Anqing Hu, Jiahong He

{"title":"A Variable Stiffness Gripper with Reconfigurable Finger Joint for Versatile Manipulations.","authors":"Huan Wang, Bingtuan Gao, Anqing Hu, Jiahong He","doi":"10.1089/soro.2022.0148","DOIUrl":"10.1089/soro.2022.0148","url":null,"abstract":"A reconfigurable dexterous gripper is designed which can switch states, including rigidity and flexibility, for different application scenarios. Moreover, the stiffness of the fingers in the flexible state can also be tuned for different objects. Three fingers are connected to the revolute joints of the palm, and each finger has a reshape mechanism with a slider moving up and down to lock or release the fingertip joint. When the slider moves upward, the gripper works in the rigid state and the fingers are actuated by the servos. When the slider moves downward, the gripper works in the flexible state that the fingertip is supported by a spring, and the fingertip joint is rotated by an embedded motor with two group cables for tuning stiffness. This novel design provides the gripper with the advantages of high precision and strong load capacity of rigid grippers and shape adaptability and safety of soft grippers. The reconfigurable mechanism allows the gripper great versatility for grasping and manipulation, which facilitates the planning and execution of the motion of objects with different shapes and stiffness. We discuss the stiffness-tunable mechanism with different states, analyze the kinematic characteristics, and test the manipulator performance to investigate the application in rigid-flexible collaborative works. Experimental results show the practicability of this gripper under different requirements and the rationality of this proposed concept.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1041-1054"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9352508","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: 1

Kirigami-Inspired 3D Printable Soft Pneumatic Actuators with Multiple Deformation Modes for Soft Robotic Applications. Kirigami启发的3D可打印软气动执行器，具有多种变形模式，适用于软机器人应用。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 Epub Date: 2023-02-23 DOI: 10.1089/soro.2021.0199

Jin Guo, Zeyu Li, Jin-Huat Low, Qianqian Han, Chao-Yu Chen, Jun Liu, Zhuangjian Liu, Chen-Hua Yeow

{"title":"Kirigami-Inspired 3D Printable Soft Pneumatic Actuators with Multiple Deformation Modes for Soft Robotic Applications.","authors":"Jin Guo, Zeyu Li, Jin-Huat Low, Qianqian Han, Chao-Yu Chen, Jun Liu, Zhuangjian Liu, Chen-Hua Yeow","doi":"10.1089/soro.2021.0199","DOIUrl":"10.1089/soro.2021.0199","url":null,"abstract":"Soft robots have received much attention due to their impressive capabilities including high flexibility and inherent safety features for humans or unstructured environments compared with hard-bodied robots. Soft actuators are the crucial components of soft robotic systems. Soft robots require dexterous soft actuators to provide the desired deformation for different soft robotic applications. Most of the existing soft actuators have only one or two deformation modes. In this article, a new soft pneumatic actuator (SPA) is proposed taking inspiration from Kirigami. Kirigami-inspired cuts are applied to the actuator design, which enables the SPA to be equipped with multiple deformation modes. The proposed Kirigami-inspired soft pneumatic actuator (KiriSPA) is capable of producing bending motion, stretching motion, contraction motion, combined motion of bending and stretching, and combined motion of bending and contraction. The KiriSPA can be directly manufactured using 3D printers based on the fused deposition modeling technology. Finite element method is used to analyze and predict the deformation modes of the KiriSPA. We also investigated the step response, creep, hysteresis, actuation speed, stroke, workspace, stiffness, power density, and blocked force of the KiriSPA. Moreover, we demonstrated that KiriSPAs can be combined to expand the capabilities of various soft robotic systems including the soft robotic gripper for delicate object manipulation, the soft planar robotic manipulator for picking objects in the confined environment, the quadrupedal soft crawling robot, and the soft robot with the flipping locomotion.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"737-748"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9971923","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: 1

Power Autonomy and Agility Control of an Untethered Insect-Scale Soft Robot. 无系绳昆虫级软体机器人的动力自主与敏捷控制。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2021.0201

Zicong Miao, Jiaming Liang, Huimin Chen, Jiangfeng Lu, Xiang Sun, Ying Liu, Fei Tang, Min Zhang

{"title":"Power Autonomy and Agility Control of an Untethered Insect-Scale Soft Robot.","authors":"Zicong Miao, Jiaming Liang, Huimin Chen, Jiangfeng Lu, Xiang Sun, Ying Liu, Fei Tang, Min Zhang","doi":"10.1089/soro.2021.0201","DOIUrl":"https://doi.org/10.1089/soro.2021.0201","url":null,"abstract":"It is still challenging to achieve agility and trajectory control for untethered soft robots on an insect scale given their low mechanical impedance and compact structures. In this study, fast translational movements and swift turning motions are demonstrated on a power autonomous soft robot with a piezoelectric-thin-film-actuated body and electrostatic turning footpads. A high relative running speed of 2.5 body length per second compared with existing untethered robots is realized on a 24-mm-long untethered prototype integrated with power source, control, and wireless communication modules. An arc-shaped leg structure is adopted to self-regulate the frication forces on different footpads during turning by an inclination-induced redistribution of the payload gravity on legs and footpads. The trajectory maneuverability is demonstrated by navigating a 380 mg robot prototype with an 1810 mg payload to pass through a 58-cm-long S-shaped path with wireless control in 43.4 s. Due to the flexibility of the all-polymer body structure, the robustness of the untethered robot to large strain is demonstrated when compressed by 91 times the weight of the robot. A maximum travel distance of 58.6 m is achieved for the robot equipped with a 40 mA·h lithium battery, corresponding to the cost of transport of 261. This work provides a feasible solution to achieve high agility and advance the practicability of untethered soft robots on an insect scale.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"749-759"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10347887","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

Electroactive Thermo-Pneumatic Soft Actuator with Self-Healing Features: A Critical Evaluation. 具有自愈功能的电活性热气动软执行器:一个关键的评估。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 DOI: 10.1089/soro.2022.0170

Felipe Orozco, Diana Horvat, Matteo Miola, Ignacio Moreno-Villoslada, Francesco Picchioni, Ranjita K Bose

引用次数: 2

Strong Reliable Electrostatic Actuation Based on Self-Clearing Using a Thin Conductive Layer. 基于薄导电层自清除的强可靠静电驱动。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-08-01 Epub Date: 2023-02-28 DOI: 10.1089/soro.2022.0132

Guoyong Xie, Dongliang Fan, Huacen Wang, Renjie Zhu, Jianjun Mao, Hongqiang Wang

{"title":"Strong Reliable Electrostatic Actuation Based on Self-Clearing Using a Thin Conductive Layer.","authors":"Guoyong Xie, Dongliang Fan, Huacen Wang, Renjie Zhu, Jianjun Mao, Hongqiang Wang","doi":"10.1089/soro.2022.0132","DOIUrl":"10.1089/soro.2022.0132","url":null,"abstract":"Electrostatic adhesion, as a promising actuation technique for soft robotics, severely suffers from the failure caused by the unpredictable electrical breakdown. This study proposes a novel self-clearing mechanism for electrostatic actuators, particularly for electrostatic adhesion. By simply employing an enough thin conductive layer (e.g., <7 μm for copper), this method can spontaneously clear the conductor around the breakdown sites effectively once breakdowns onset and survive the actuator shortly after the electrical damage. Compared with previous self-clearing methods, which typically rely on new specific materials, this mechanism is easy to operate and compatible with various materials and fabrication processes. In our tests, it can improve the maximum available voltage by 260% and the maximum electrostatic adhesive force by 276%. In addition, the robustness and repeatability of the self-clearing mechanism are validated by surviving consecutive breakdowns and self-clearing of 173 times during 65 min. This method is also demonstrated to be capable of recovering the electrostatic pad from severe physical damages such as punctures, penetrations, and cuttings successfully and enabling stable and reliable operation of the electrostatic clutch, or gripping, for example, even after the short-circuit takes place for hundreds of times. Therefore, the proposed self-clearing method sheds new light on high performance and more extensive practical applications of electrostatic actuators in the future.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 4","pages":"797-807"},"PeriodicalIF":7.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9966530","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: 1