Bioinspiration & Biomimetics最新文献

Effects of symmetry and hydrodynamics on the cohesion of groups of swimmers. 对称和流体力学对游泳运动员群体内聚力的影响。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-10-10 DOI: 10.1088/1748-3190/ae0bd9

Mohamed Niged Mabrouk, Daniel Floryan

{"title":"Effects of symmetry and hydrodynamics on the cohesion of groups of swimmers.","authors":"Mohamed Niged Mabrouk, Daniel Floryan","doi":"10.1088/1748-3190/ae0bd9","DOIUrl":"10.1088/1748-3190/ae0bd9","url":null,"abstract":"When groups of inertial swimmers move together, hydrodynamic interactions play a key role in shaping their collective dynamics, including the cohesion of the group. To explore how hydrodynamic interactions influence group cohesion, we develop a three-dimensional, inviscid, far-field model of a swimmer, neglecting the vortical wake produced by swimmers in order to determine the role that potential flow interactions play on group dynamics. Focusing on symmetric triangular, diamond, and circular group arrangements, we investigate whether passive hydrodynamics alone can promote cohesive behavior, and what role symmetry of the group plays. Under the idealized conditions of our model, we find that far-field interactions alone significantly impact the cohesion of groups of swimmers. This is an important result because, contrary to common belief, it shows that interactions with a vortical wake do not solely determine the cohesion of groups of swimmers. While small symmetric (and even asymmetric) groups can be cohesive, larger groups typically are not, instead breaking apart into smaller, self-organized subgroups that are cohesive. Notably, we discover circular arrangements of swimmers that chase each other around a circle, resembling the milling behavior of natural fish schools; we call this hydrodynamic milling. Hydrodynamic milling is cohesive in the sense that it is a fixed point of a particular Poincaré map, but it is unstable, especially to asymmetric perturbations. Our findings suggest that while passive hydrodynamics alone cannot sustain large-scale cohesion indefinitely, controlling interactions between subgroups, or controlling the behavior of only the periphery of a large group, could potentially enable stable collective behavior with minimal active input.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145151983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Mechanical resonance conditions in insect flapping wing apparatus: insights from flight and swimming of a miniature waspTiphodytes gerriphagus. 昆虫扑翼装置的机械共振条件：从小型小黄蜂的飞行和游泳的观察。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-10-08 DOI: 10.1088/1748-3190/ae0aa5

Artyom Falman, Vladislav Dvornikov, Sergey Farisenkov, Nadezhda Lapina, Alexey Polilov, Dmitry Kolomenskiy

{"title":"Mechanical resonance conditions in insect flapping wing apparatus: insights from flight and swimming of a miniature waspTiphodytes gerriphagus.","authors":"Artyom Falman, Vladislav Dvornikov, Sergey Farisenkov, Nadezhda Lapina, Alexey Polilov, Dmitry Kolomenskiy","doi":"10.1088/1748-3190/ae0aa5","DOIUrl":"10.1088/1748-3190/ae0aa5","url":null,"abstract":"Evidence suggests that insects may utilize resonant mechanics during flight to optimize energetic efficiency, though whether this mechanism is universal across all insect species remains debated. Microinsects appear particularly intriguing in this context: they exhibit agility comparable to larger species despite experiencing higher aerodynamic damping forces on their wings. We investigated mechanical resonance dynamics focusing on the miniature waspTiphodytes gerriphagus-a remarkable species capable of both aerial flight and underwater locomotion, using wings in both cases. This dual-mode mobility introduces additional biomechanical constraints that simplify parameter identification in the analysis. We developed a reduced-order model incorporating muscle activation, internal inertial and viscous damping forces, thoracic elasticity, and inertial and fluid-dynamic forces acting on the wing. This model represents the insect flight apparatus as a one-dimensional oscillator. It employs capillary analogy modeling, integrated with a wing-thorax-muscle system undergoing periodic flapping motions. Our results demonstrate limited flight motor resonance potential in air, caused by strong damping effects, and unavoidably overdamped conditions underwater.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145132958","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Maximizing anthropomorphic grasping abilities of bio-inspired underactuated robotic hands. 仿生欠驱动机器人手的拟人化抓取能力最大化。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-10-08 DOI: 10.1088/1748-3190/ae0aa3

Jiaji Ma, Bai-Yang Sun, Dai Chu, Jinhao Yang, Jiarui Zhang, Cai-Hua Xiong

{"title":"Maximizing anthropomorphic grasping abilities of bio-inspired underactuated robotic hands.","authors":"Jiaji Ma, Bai-Yang Sun, Dai Chu, Jinhao Yang, Jiarui Zhang, Cai-Hua Xiong","doi":"10.1088/1748-3190/ae0aa3","DOIUrl":"10.1088/1748-3190/ae0aa3","url":null,"abstract":"Recent neuroscience discoveries on human hand synergies have inspired the development of underactuated robotic hands, which replicate human-like grasping capabilities using a minimal number of actuators. However, a generalized methodology for determining the parameters of such bio-inspired underactuated hands to maximize anthropomorphic grasping abilities remains a significant challenge. To address this, we propose a novel framework based on Hertz contact theory to establish a general underactuated grasping model. Within this framework, we introduce evaluation indices and constraint conditions integrating morphological parameter ranges of the human hand derived from a scientific analysis in our prior work and an approximation index between human hand motions and robotic hand motions, aimed at: 1) biomimetic part: ensuring that the robotic hand's morphology, motion, and posture closely mimic those of the human hand, and 2) robotic part: maximizing the Euclidean norms of normal contact forces between the robotic hand and the object during grasping. To streamline the parameter optimization process, we devise a comprehensive, step-by-step strategy that groups parameters sequentially, enabling rapid convergence to optimal solutions. As a case study, we design and develop a dual-actuated robotic hand, comparing unaltered and optimized parameter schemes through extensive simulations and experimental validations. The results demonstrate the effectiveness of our method and suggest its potential applicability to a wide range of underactuated robots and bionic systems. This work provides a systematic approach to advancing the design and optimization of anthropomorphic robotic hands, bridging the gap between biological inspiration and engineering implementation.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145132915","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 nonlinear vibration isolator inspired by the arc-shaped multi-vertebra structure of a bird's neck. 一种非线性隔振器，灵感来自于鸟脖子的弧形多椎体结构。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-10-08 DOI: 10.1088/1748-3190/ae0aa9

Weilei Wu, Bin Tang, Michael J Brennan, Jingde Tang, Paulo J P Gonçalves, Alexander D Shaw, Gianluca Gatti

引用次数: 0

Multi-objective optimization of three-dimensional riblet surfaces for hydrodynamic and acoustic performance. 三维波纹表面水动力和声学性能的多目标优化。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-10-06 DOI: 10.1088/1748-3190/ae0227

Zixiao Wei, Zilan Zhang, Dahyun Daniel Lim, Justin Rey, Matthew Jones, Grace X Gu

{"title":"Multi-objective optimization of three-dimensional riblet surfaces for hydrodynamic and acoustic performance.","authors":"Zixiao Wei, Zilan Zhang, Dahyun Daniel Lim, Justin Rey, Matthew Jones, Grace X Gu","doi":"10.1088/1748-3190/ae0227","DOIUrl":"10.1088/1748-3190/ae0227","url":null,"abstract":"Riblets inspired by the dermal denticles of shark skin are widely recognized for their drag-reducing performance. Although previous research has predominantly focused on two-dimensional riblet geometries, three-dimensional (3D) topographies remain underexplored due to the complex architecture of denticle-inspired surfaces. Natural riblet arrays, comprising thousands of interconnected dermal denticles, pose challenges in terms of parameterization, simulation, and fabrication. This work addresses these challenges by introducing a 3D, riblet-reinforced surface topography design that reduces drag, suppresses flow-induced noise, and simplifies both parameterization and prototyping, ultimately providing a scalable solution for towed array sonar applications. Leveraging Bayesian optimization, our computational fluid dynamics (CFD) results reveal that the optimal design decreases the overall sound pressure level by 6.87 dB and reduces drag by 0.34%, effectively balancing noise mitigation with hydrodynamic performance. The design that achieves the greatest noise reduction lowers flow noise by 8.81 dB, albeit with a slight increase in drag. The most effective design for drag reduction yields a 5.18% decrease, accompanied by significant noise suppression across key frequency bands. Flow field analysis demonstrates that our design alters the near-wall vorticity dynamics by promoting the formation of vortex rings that detach from the surface, thereby reducing turbulent energy transfer and limiting sound pressure fluctuations relative to a smooth surface design. To this end, the combination of CFD simulations and Bayesian optimization offers an efficient pathway to refine riblets-reinforced surface topographies, paving the way for advanced bioinspired designs that improve acoustic performance and efficiency in underwater applications.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144979694","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 3D model predicts behavior of a soft bodied worm robot performing peristaltic locomotion. 三维模型预测软体蜗杆机器人蠕动运动的行为。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-10-06 DOI: 10.1088/1748-3190/ae0631

Shane A Riddle, Clayton B Jackson, Kathryn A Daltorio, Roger D Quinn

{"title":"A 3D model predicts behavior of a soft bodied worm robot performing peristaltic locomotion.","authors":"Shane A Riddle, Clayton B Jackson, Kathryn A Daltorio, Roger D Quinn","doi":"10.1088/1748-3190/ae0631","DOIUrl":"10.1088/1748-3190/ae0631","url":null,"abstract":"The passive compliance of a soft worm-like body can be a key advantage for traversal of complex confined spaces, but in practice, the body's stiffness and contact friction often require experimental adjustments. Here, for the first time, we develop a dynamic, 3D simulation that enables systematic testing of robot parameters (e.g. stiffness and friction) in different radius of curvature environments, which will help us better understand design trade-offs in creating soft robots that mimic worm-like locomotion. Specifically, we use the open-source physics engine MuJoCo because it is established for both biomechanical and robotic modeling, as well as multi-point contact dynamics, which are present in confined spaces. The model has sensory capabilities analogous to the stretch and tactile proprioception of an earthworm and is amenable to both feedforward and feedback control. After validating our model by comparing to our previous physical robot, we quantify locomotion performance over a range of friction coefficients, structural stiffnesses, and turning radii. We found that speed increased with friction coefficient on flat ground for higher stiffness models, but decreased with friction coefficient for lower stiffness models, both on flat ground and in pipe bends. For turning radii greater than 0.45 m, speed and stiffness also had a positive correlation, however, below the critical turning radius of 0.45 m, increasing stiffness had no appreciable influence on speed. This simulation can potentially be used to optimize designs for particular environments, to better understand the influence of passive vs. active control on individual and coupled segments, and perhaps offer a deeper understanding of how animals and robots can employ soft structures. For example, we can posit from our results that changing stiffness will not increase speed below the critical turning radius, meaning further experiments should focus on other parameters or actively controlled turning to improve speed through tighter turns.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145042187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Rat Robot Autonomous Border Detection Based on Wearable Sensors. 基于可穿戴传感器的大鼠机器人自主边界检测。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-10-02 DOI: 10.1088/1748-3190/ae0ee8

Haobo Xie, Haoze Xu, Kedi Xu, Chaonan Yu, Wei Yang, Canjun Yang

{"title":"Rat Robot Autonomous Border Detection Based on Wearable Sensors.","authors":"Haobo Xie, Haoze Xu, Kedi Xu, Chaonan Yu, Wei Yang, Canjun Yang","doi":"10.1088/1748-3190/ae0ee8","DOIUrl":"https://doi.org/10.1088/1748-3190/ae0ee8","url":null,"abstract":"Bio-robots, a novel type of robots created based on brain-machine interface, have shown great potential in search and rescue tasks. However, current research focuses on the bio-robot itself, such as locomotion, localization and navigation, but lacks interactions with the external environment. In this paper, we proposed a new system for rat robot to autonomously explore the border of unknown field out of sight, and then get the boundary map. We invented a wearable backpack, which is an embedded system with laser-ranging sensors, IMU and ultra-wide band (UWB) module, for the rat robot. Based on the wearable system, a classification method for motion states based on random forest (RF) and a navigation algorithm based on finite state machine (FSM) were developed for the autonomous exploration of border and tested in the locomotion experiment. Besides, with the localization and distance data from UWB and laser-ranging sensors, we mapped the distribution of the border, using Ramber-Douglas-Peucker (RDP) algorithm. The results show that the system could effectively navigate the rat robot to explore the field and accurately detect the border. The accuracy of classification reaches 97.86% and the error rate of border detection is 5.90%. This work provides a novel technology that has potential for practical applications such as prospect for minerals and search tasks.&#xD.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145214591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 optimal stiffness distribution of homocercal fish tail based on surrogate modeling. 基于代理建模的同角鱼尾刚度优化分布研究。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-09-30 DOI: 10.1088/1748-3190/ae0908

Xiaobo Zhang, Zhongcai Pei, Zhiyong Tang, Nianzheng Feng

{"title":"Research on optimal stiffness distribution of homocercal fish tail based on surrogate modeling.","authors":"Xiaobo Zhang, Zhongcai Pei, Zhiyong Tang, Nianzheng Feng","doi":"10.1088/1748-3190/ae0908","DOIUrl":"10.1088/1748-3190/ae0908","url":null,"abstract":"The focus of this work is to investigate the influence of stiffness distribution in the fish tail on swimming performance and to determine the optimal stiffness distribution. Targeting fish employing the body and/or caudal fin (BCF) swimming mode, we constructed an fluid-structure interaction (FSI) simulation model based on the characteristics of BCF locomotion. Using this FSI model, we systematically examined multiple typical stiffness distributions along the inter-ray and ray-aligned directions, summarizing the underlying patterns in these two directions. Subsequently, we expanded the dataset obtained from the FSI simulations. Based on the expanded dataset, we developed a surrogate model using support vector regression (SVR) enhanced by the young's double-slit experiment optimization algorithm (YDSE). An improved particle swarm optimization algorithm was then applied to this surrogate model to identify the stiffness distributions corresponding to maximum thrust and highest efficiency, respectively. Compared to the original dataset, the optimized solutions obtained through YDSE-SVR iteration increased thrust by 4.94% and efficiency by 6.86%. Finally, we analyzed the mechanisms behind the differences in thrust and efficiency using pressure contours and streamline diagrams. The derived patterns regarding the influence of fish tail stiffness distribution on swimming performance can provide insights for robotic fish design.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145088425","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Reinforcement Learning for Robust Navigation of Fish-Like Agents in Various Fluid Environments. 基于强化学习的类鱼智能体在不同流体环境中的鲁棒导航。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-09-30 DOI: 10.1088/1748-3190/ae0dd1

Jin Zhang, Xiaolong Chen, Bochao Cao

{"title":"Reinforcement Learning for Robust Navigation of Fish-Like Agents in Various Fluid Environments.","authors":"Jin Zhang, Xiaolong Chen, Bochao Cao","doi":"10.1088/1748-3190/ae0dd1","DOIUrl":"https://doi.org/10.1088/1748-3190/ae0dd1","url":null,"abstract":"Achieving robust and energy-efficient navigation in unknown fluid environments remains a key challenge for bioinspired underwater robots. In this study, we develop a reinforcement learning (RL)-based control framework that enables a fish-like swimmer to autonomously acquire effective navigation strategies within a high-fidelity computational fluid dynamics (CFD) environment. By shaping the reward function to favor energy efficiency, the agent spontaneously discovers different locomotion patterns, ranging from continuous bursting to burst-and-coast gaits, all without prior knowledge of fluid mechanics. Although the agent is trained in a quiescent fluid environment, the learned swimming policies are generalized well in various navigation tasks and remain robust under complex flow perturbations, including uniform currents and unsteady vortex wakes. In all test scenarios, the agent achieves a 100$%$ navigation success rate. These findings highlight the potential of integrating physics-based simulation with learning-based control strategy to advance the design of adaptive, efficient, and resilient aquatic robots inspired by biological swimmers.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145202132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Mechanical Properties and Energy Absorption Characteristics of the Self-similar Structure in Spiral Shells. 螺旋壳自相似结构的力学性能和吸能特性。

IF 3 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2025-09-30 DOI: 10.1088/1748-3190/ae0dd0

Zhanhong Guo, Na Han, Meng Zou, Yansong Liu, Jing Liu

{"title":"Mechanical Properties and Energy Absorption Characteristics of the Self-similar Structure in Spiral Shells.","authors":"Zhanhong Guo, Na Han, Meng Zou, Yansong Liu, Jing Liu","doi":"10.1088/1748-3190/ae0dd0","DOIUrl":"https://doi.org/10.1088/1748-3190/ae0dd0","url":null,"abstract":"The multi-scale hierarchical structure of the conch shell exhibits exceptional mechanical properties, earning it the reputation as nature's natural armor. Based on structural bionics, this study investigates the self-similar three-dimensional structure of conch shells and analyzes their effects on energy absorption. Guided by similarity theory, spiral shell specimens were selected to analyze structural characteristics along macro-oriented directions, with mechanical tests conducted using a universal testing machine. Transverse compression tests revealed that the lateral compressive strength correlates with aperture thickness and overall height, with a Young's modulus ranging from 10 to 15 GPa. Axial compression tests indicated a progressive fracture pattern during shell failure accompanied by nonlinear deformation. A mathematical 3D model of the conch was developed based on geometric formulas, complemented by scanner-based sample digitization and reverse reconstruction. Cross-validation among theoretical models, reconstructed digital models, and physical specimens confirmed the accuracy of the conch's geometric formulations. Multiphysics simulation tools enabled optimization of key conch topology parameters (α、β、r0、a、b), while response surface modeling quantified parameter-energy absorption correlations. The optimized structural parameters were determined as α=86.6、β=12.2、r0=92.5、a=27.5、b=37.5. Our findings establish that energy dissipation performance in conch shells is fundamentally linked to their fractal-like self-similar organization. These findings provide crucial theoretical foundations and experimental references for the optimized design of bio-inspired energy-absorbing structures.&#xD.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2025-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145202008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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