Robotica最新文献_第4页

Configuration design of movable heavy-duty reconfigurable posture adjustment platform with dual motion modes 具有双运动模式的可移动重型可重构姿势调整平台的配置设计

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s026357472400064x

Rui Wang, Xiaoyan Xiong, Jinzhu Zhang, Ruilin Yuan

{"title":"Configuration design of movable heavy-duty reconfigurable posture adjustment platform with dual motion modes","authors":"Rui Wang, Xiaoyan Xiong, Jinzhu Zhang, Ruilin Yuan","doi":"10.1017/s026357472400064x","DOIUrl":"https://doi.org/10.1017/s026357472400064x","url":null,"abstract":"The existing single-mode posture adjustment equipment for solar wing docking is only suitable for a limited number of satellite dimensions; it could not meet the diverse development trends of satellite models. The working range requirements are different when different-sized satellites dock with the solar wing, and the docking process is divided into two stages in this paper. While the DOFs required for the two stages are different, a movable heavy-load reconfigurable redundant posture adjustment platform (RrPAP) with dual motion modes is proposed in this paper. The RrPAP consists of a wheeled mobile platform and a reconfigurable parallel posture adjustment mechanism (PAM). The micro-motion PAM limb types are synthesized, and the comprehensive load-bearing index is proposed to select the mechanism types for heavy-load conditions. A decentralized four-limb six-degree-of-freedom (6-DOF) parallel micro-motion PAM is designed. In the macro-motion stage, for the PAM to still have a defined motion after being released from ground constraints, a serial coupling sub-chain is designed between adjacent limbs to restrict relative movement between them. A type synthesis method for symmetrically coupled mechanisms based on mechanism decoupling and motion distribution is proposed. Four types of symmetrically coupled mechanisms with multi-loop consisting of serial coupling sub-chains are synthesized by using this method. The feasibility of the proposed method is demonstrated through an example using the constraint synthesis method based on screw theory. This work provides a foundation for subsequent refinement and expansion of type synthesis theories and the selection of new types of mechanisms.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"42 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Trace inequalities and kinematic metrics 迹不等式和运动学度量

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s0263574724000778

Yuwei Wu, Gregory S. Chirikjian

{"title":"Trace inequalities and kinematic metrics","authors":"Yuwei Wu, Gregory S. Chirikjian","doi":"10.1017/s0263574724000778","DOIUrl":"https://doi.org/10.1017/s0263574724000778","url":null,"abstract":"Kinematics remains one of the cornerstones of robotics, and over the decade, Robotica has been one of the venues in which groundbreaking work in kinematics has always been welcome. A number of works in the kinematics community have addressed metrics for rigid-body motions in multiple different venues. An essential feature of any distance metric is the triangle inequality. Here, relationships between the triangle inequality for kinematic metrics and so-called trace inequalities are established. In particular, we show that the Golden-Thompson inequality (a particular trace inequality from the field of statistical mechanics) which holds for Hermitian matrices remarkably also holds for restricted classes of real skew-symmetric matrices. We then show that this is related to the triangle inequality for <img data-mimesubtype=\"png\" data-type=\"\" src=\"https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20240911135946881-0491:S0263574724000778:S0263574724000778_inline1.png\">$SO(3)$</img> and <img data-mimesubtype=\"png\" data-type=\"\" src=\"https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20240911135946881-0491:S0263574724000778:S0263574724000778_inline2.png\">$SO(4)$</img> metrics.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"50 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 local collision-free motion planning strategy for hyper-redundant manipulators based on dynamic safety envelopes 基于动态安全包络的超冗余机械手局部无碰撞运动规划策略

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s0263574724000791

Renjie Ju, Dong Zhang, Yan Gai, Zhengcai Cao

{"title":"A local collision-free motion planning strategy for hyper-redundant manipulators based on dynamic safety envelopes","authors":"Renjie Ju, Dong Zhang, Yan Gai, Zhengcai Cao","doi":"10.1017/s0263574724000791","DOIUrl":"https://doi.org/10.1017/s0263574724000791","url":null,"abstract":"Hyper-redundant manipulators (HRMs) exhibit promising adaptability and superior dexterity in cavity detection tasks, owing to their snake-like segmented backbones. Due to the safety concern in contactless operating tasks, reliable motion planning in a confined environment for HRMs is very challenging. However, existing expanding-based obstacle avoidance methods are not feasible in narrow environments, as they will excessively occupy free spaces required for maneuvering. In this work, a local collision-free motion planning strategy based on dynamic safety envelope (DSE) is proposed for HRMs. First, the local motion of HRMs is analyzed in detail, and DSE is proposed for the first time to describe the boundary of the collision-free area. Then, to maximize the efficient utilization of narrow spaces, a reference trajectory for HRM is roughly planned without expanding obstacles. Further, a tip-guided trajectory tracking method based on configuration prediction is proposed by considering the discrete characteristics of rigid links to avoid obstacles. During the tracking process, DSEs are applied to evaluate collision risk and optimize the configuration. Finally, to validate the effectiveness of our proposed method, simulations are conducted, followed by experiments by using a 18-degrees of freedom mobile HRM prototype system.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"7 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186169","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Adaptive integral terminal sliding mode control of unmanned bicycle via ELM and barrier function 通过 ELM 和障碍函数实现无人驾驶自行车的自适应积分终端滑动模式控制

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s0263574724000997

Long Chen, Zhihui Jin, Ke Shao, Guangyi Wang, Shuping He, Vladimir Stojanovic, Parisa Arabzadeh Bahri, Hai Wang

{"title":"Adaptive integral terminal sliding mode control of unmanned bicycle via ELM and barrier function","authors":"Long Chen, Zhihui Jin, Ke Shao, Guangyi Wang, Shuping He, Vladimir Stojanovic, Parisa Arabzadeh Bahri, Hai Wang","doi":"10.1017/s0263574724000997","DOIUrl":"https://doi.org/10.1017/s0263574724000997","url":null,"abstract":"In this paper, an unmanned bicycle (UB) with a reaction wheel is designed, and a second-order mathematical model with uncertainty is established. In order to achieve excellent balancing performance of the UB system, an adaptive controller is designed, which is composed of nominal feedback control, compensating control using extreme learning machine observer and reaching control via integral terminal sliding mode (ITSM) and barrier function (BF)-based adaptive law. Owing to the features of BF-based ITSM (BFITSM), not only any uncertainty or disturbance upper bound is not needed any longer but also the finite-time convergence of the closed-loop system can be ensured with a predefined error bound. Moreover, the BF-based control gain can be adaptively adjusted according to the update of the lumped uncertainty such that the overestimation is removed. The stability analysis of the closed-loop system is given according to Lyapunov theory. Comparable experimental results on an actual UB are carried out to validate the superior balancing performance of the proposed controller.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"58 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Joint angle synergy-based humanoid robot motion generation with fascia-inspired nonlinear constraints 利用筋膜启发的非线性约束生成基于关节角度协同作用的仿人机器人动作

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s0263574724000961

Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro

{"title":"Joint angle synergy-based humanoid robot motion generation with fascia-inspired nonlinear constraints","authors":"Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro","doi":"10.1017/s0263574724000961","DOIUrl":"https://doi.org/10.1017/s0263574724000961","url":null,"abstract":"When generating simultaneous joint movements of a humanoid with multiple degrees of freedom to replicate human-like movements, the approach of joint synergy can facilitate the generation of whole-body robotic movement with a reduced number of control inputs. However, the trade-off of minimizing control inputs and keeping characteristics of movements makes it difficult to improve movement performance in a simple control manner. In this paper, we introduce an approach by connecting and constraining these joints. It is inspired by the fascia network of the human body, which constrains the whole-body movements of a human. Compared to when only joint synergy is used, the effectiveness of the proposed method is verified by calculating the errors of joint positions of generated movements and human movements. The paper provides a detailed exploration of the proposed method, presenting simulation-experimental results that affirm its effectiveness in generated movements that closely resemble human movements. Furthermore, we provide one possible method on how these concepts can be implemented in actual robotic hardware, offering a pathway to improve movement control in humanoid robots within their mechanical limitations.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"12 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Research on the biomimetic quadruped jumping robot based on an efficient energy storage structure 基于高效储能结构的仿生四足跳跃机器人研究

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-12 DOI: 10.1017/s026357472400095x

Tianyu Zhang, Jieliang Zhao, Chenyang Zhang, Qun Niu, Shaoze Yan

{"title":"Research on the biomimetic quadruped jumping robot based on an efficient energy storage structure","authors":"Tianyu Zhang, Jieliang Zhao, Chenyang Zhang, Qun Niu, Shaoze Yan","doi":"10.1017/s026357472400095x","DOIUrl":"https://doi.org/10.1017/s026357472400095x","url":null,"abstract":"The ability of quadruped robots to overcome obstacles is a critical factor that limits their practical application. Here, a design concept and a control algorithm are presented that aim at enhancing the explosive force of quadruped robots during jumping by utilizing elastic energy storage components. The hind legs of the quadruped robot are designed as energy storage units. Tension springs are utilized as components for storing energy and are installed in a parallel structure on the hind leg. Energy is stored during the compression process of the robot’s torso and released during the jumping phase. The optimal foot force is calculated using a single rigid body model. The mapping relationship between the force applied to the foot and the resulting joint torque is established by developing a dynamic model of the hind legs. Simulation experiments were conducted using the Webots physics engine to compare the impact of varying spring stiffness on joint torque during the jumping process. This study determined the optimal spring stiffness under specific conditions. The hind legs’ torque saving ratio reaches 19%, and the energy-saving ratio reaches 13%, which validates the effectiveness and feasibility of integrating elastic energy storage components.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"36 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Dynamic modeling and simulation of a torque-controlled spatial quadruped robot 扭矩控制空间四足机器人的动态建模与仿真

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-09-11 DOI: 10.1017/s0263574724001097

Daniel Teixeira de Paula, Eduardo Paciencia Godoy, Mauricio Becerra-Vargas

{"title":"Dynamic modeling and simulation of a torque-controlled spatial quadruped robot","authors":"Daniel Teixeira de Paula, Eduardo Paciencia Godoy, Mauricio Becerra-Vargas","doi":"10.1017/s0263574724001097","DOIUrl":"https://doi.org/10.1017/s0263574724001097","url":null,"abstract":"Evolution has shown that legged locomotion is most adequate for tasks requiring versatile movement on land, allowing animals to traverse a wide variety of environments ranging from natural terrain to artificial, man-made landscapes with great ease. By employing well-designed control schemes, this ability could be replicated for legged robots, enabling them to be used in critical situations that still pose great danger to human integrity, such as search and rescue missions, inspection of hazardous areas, and even space exploration. This work characterizes the quadruped robot and contact dynamics that will compose our in-house simulator to be used for prototyping locomotion control schemes applied to quadruped robots. The proposed simulator computes the robot dynamics using the Recursive Newton-Euler and Composite-Rigid-Body algorithms with a few modifications to make certain aspects relevant for contact detection and control more easily accessible; furthermore, a compliant contact force method alongside stick-slip friction modeled the contact dynamics. To allow the robot to move, a simple PD-independent joint controller was implemented to track a desired leg trajectory. With the same robot and controller implemented using the MuJoCo simulation software, this work evaluates the proposed simulator by comparing characteristic locomotion signals such as the trunk pose and the ground reaction forces. Results showed similar behavior for both simulators, especially with regard to the contact detection, despite the significantly different contact models. Lastly, final remarks to enhance our simulator’s performance are suggested to be explored in future works.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"3 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186171","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Robot skill acquisition for precision assembly of flexible flat cable with force control 力控柔性扁平电缆精密装配机器人技能获取

4区计算机科学

Robotica Pub Date : 2024-09-01 DOI: 10.1017/s0263574724001164

Xiaogang Song, Peng Xu, Wenfu Xu, Bing Li, Lei Qin

{"title":"Robot skill acquisition for precision assembly of flexible flat cable with force control","authors":"Xiaogang Song, Peng Xu, Wenfu Xu, Bing Li, Lei Qin","doi":"10.1017/s0263574724001164","DOIUrl":"https://doi.org/10.1017/s0263574724001164","url":null,"abstract":"Abstract The flexible flat cable (FFC) assembly task is a prime challenge in electronic manufacturing. Its characteristics of being prone to deformation under external force, tiny assembly tolerance, and fragility impede the application of robotic assembly in this field. To achieve reliable and stable robotic automation assembly of FFC, an efficient assembly skill acquisition strategy is presented by combining a parallel robot skill learning algorithm with adaptive impedance control. The parallel robot skill learning algorithm is proposed to enhance the efficiency of FFC assembly skill acquisition, which reduces the risk of damaging FFC and tackles the uncertain influence resulting from deformation during the assembly process. Moreover, FFC assembly is also a complex contact-rich manipulation task. An adaptive impedance controller is designed to implement force tracking during the assembly process without precise environment information, and the stability is also analyzed based on the Lyapunov function. Experiments of FFC assembly are conducted to illustrate the efficiency of the proposed method. The experimental results demonstrate that the proposed method is robust and efficient.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"42 9","pages":"2908-2923"},"PeriodicalIF":0.0,"publicationDate":"2024-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0E75945B85CC69B8FCCB21ABFB455AF5/S0263574724001164a.pdf/div-class-title-robot-skill-acquisition-for-precision-assembly-of-flexible-flat-cable-with-force-control-div.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147901214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 1

Earlier smart prediction of diabetic retinopathy from fundus image under innovative ResNet optimization maneuver 在创新的 ResNet 优化操纵下，更早地从眼底图像智能预测糖尿病视网膜病变

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-08-28 DOI: 10.1017/s0263574724000742

S. S. Sunil, A. Shri Vindhya

{"title":"Earlier smart prediction of diabetic retinopathy from fundus image under innovative ResNet optimization maneuver","authors":"S. S. Sunil, A. Shri Vindhya","doi":"10.1017/s0263574724000742","DOIUrl":"https://doi.org/10.1017/s0263574724000742","url":null,"abstract":"Diabetic retinopathy (DR) is a complication of diabetes that causes blindness and the early detection of diabetics using retinopathy images remains a challenging task. Hence, a novel, earlier smart prediction of diabetic retinopathy from fundus image under Innovative ResNet Optimization is introduced to effectively detect the earlier stage of DR from Fundus image. Initially, the fundus image is scaled during preprocessing and converted into a grayscale format. As the existing studies neglect some deserving unique features that are crucial for predicting the earliest signs of DR, a novel Fractional Radon Transform with Visibility Graph is introduced for extracting the novel features such as microaneurysms count, dot and blot hemorrhages count, statistical measures, and retinal layer thickness, in which a Generalized Cosine Fractional Radon Transform is used to capture the image’s fine-scale texture information thereby effectively capturing the statistical measures, while a weighted Horizontal Visibility Graph is made to examine the apparent spatial relationships between pixel pairs in the image based on the values of the pixels’ gray levels. Further, the existing works failed to identify the small fine dark areas that were ignored throughout the morphological opening process. In order to overcome this issue, a Morphological Black Hat Transform with Optimized ResNet Algorithm is implemented, where segmentation is made through Enriched Black Hat Transform-based Morphological operation to identify fine dark regions among the pixels inside the eye samples, and the classification is done by using ResNet-driven S-GOA (Socio Grasshopper Optimization Algorithm), to optimally predict the stages of DR. The result obtained showed that the proposed model outperforms existing techniques with high performance and accuracy.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"42 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Closed-loop control of a tendon-driven active needle for tip tracking at desired bending angle for high-dose-rate prostate brachytherapy 对肌腱驱动的主动针进行闭环控制，以便在高剂量率前列腺近距离放射治疗中以所需弯曲角度跟踪针尖

IF 2.7 4区计算机科学

Robotica Pub Date : 2024-08-27 DOI: 10.1017/s0263574724000900

Samuel Lafreniere, Blayton Padasdao, Bardia Konh

{"title":"Closed-loop control of a tendon-driven active needle for tip tracking at desired bending angle for high-dose-rate prostate brachytherapy","authors":"Samuel Lafreniere, Blayton Padasdao, Bardia Konh","doi":"10.1017/s0263574724000900","DOIUrl":"https://doi.org/10.1017/s0263574724000900","url":null,"abstract":"Prostate cancer is the second most common malignancy in American men. High-dose-rate brachytherapy is a popular treatment technique in which a large, localized radiation dose is used to kill cancer. Utilization of curvilinear catheter implantation inside the prostate gland to provide access channels to host the radiation source has shown superiority in terms of improved dosimetric constraints compared to straight needles. To this aim, we have introduced an active needle to curve inside the prostate conformal to the patient’s specific anatomical relationship for improved dose distribution to the prostate and reduced toxicity to the organs at risk. This work presents closed-loop control of our tendon-driven active needle in water medium and air using the position feedback of the tip obtained in real time from an ultrasound (US) or an electromagnetic (EM) tracking sensor, respectively. The active needle consists of a compliant flexure section to realize bending in two directions via actuation of two internal tendons. Tracking errors using US and EM trackers are estimated and compared. Results show that the bending angle of the active needle could be controlled using position feedback of the US or the EM tracking system with a bending angle error of less than 1.00 degree when delay is disregarded. It is concluded that the actuation system and controller, presented in this work, are able to realize a desired bending angle at the active needle tip with reasonable accuracy paving the path for tip tracking and manipulation control evaluations in a prostate brachytherapy.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"103 1","pages":""},"PeriodicalIF":2.7,"publicationDate":"2024-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142186173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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