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2024 Vol. 45, No. 6
Published: 2024-06-28
 
769 Multi-angle Weak Texture Cultural Relics 3D Scanning Measurement Method
DONG Li,JANG Wensong,LUO Zai,YANG Li,LI Yaru,BIAN Dian
DOI: 10.3969/j.issn.1000-1158.2024.06.01
The digital reconstruction of ancient artifacts is an important analytical tool for archaeological excavations, but the structure of cultural relics with weak texture features is difficult to accurately register, resulting in significant 3D reconstruction errors. A three-dimensional reconstruction method based on complementary Gray code phase shift method is proposed to address this issue, and multi-angle point cloud registration is completed with the assistance of a turntable. Firstly, establish a binocular turntable pose transformation model and complete system calibration; Secondly, during the scanning process, the complementary Gray code phase shift method is used to obtain high-quality phase information, and single point cloud data is obtained through epipolar correction and stereo matching; Finally, the multi-angle stitching method of precision turntable is used to achieve the combination of point cloud images in various directions, and to construct a complete three-dimensional point cloud image of cultural relics. An experimental verification platform is built to verify the effectiveness of the method. The experimental results show that the error of the proposed algorithm is less than 0.11mm, and the error of the depth camera method is 6.96mm, which is 63.27 times larger than the error of the method proposed. It proves that the method proposed has advantages in building weak texture feature objects, and at the same time, the application of the turntable also achieved multi-angle 3D reconstruction of uniformly symmetric objects.
2024 Vol. 45 (6): 769-776 [Abstract] ( 102 ) HTML (1 KB)  PDF (679 KB)  ( 59 )
777 Design of All-weather High Uniformity Light Environment Lighting System
ZHENG Guoqing,ZHONG Hugen,WANG Yuqing,ZHAN Chunlian
DOI: 10.3969/j.issn.1000-1158.2024.06.02
In order to solve the simulation problem of all-weather high uniformity light environment outside the cockpit required for ergonomics experiment, a mathematical model of large-area LED environmental lighting system is established. An all-weather lighting system with large area, high uniformity and fast adjustment is designed by means of test calculation and simulation design. When the light source distribution is determined, the uniformity of the lighting system mainly depends on the stability and consistency of the power supply, the higher the stability and consistency of the power supply of the system, the higher the uniformity of the illuminance, the illuminance of the system depends on the size of the electrical power of the system, the greater the electrical power of the system, the stronger the illuminance.When the power supply of the light source is determined, the uniformity and dynamic range of illumination depend on the number and distribution of the light source. The smaller the luminous Angle of the light source and the spacing of the light source, the smaller the dynamic range of illumination and the higher the uniformity of illumination.A large area light environment simulation system of 10m×10m is built. The illuminance of the system can be adjusted from 1.5×105lx at noon to 0.01lx at night. The all-weather color temperature range of 3000 to 6500K can be adjusted, and the uniformity of illuminance is over 95%.The experimental verification results meet the design requirements for a large-area, high-intensity, high-uniformity light environment simulation system required outside the aircraft cockpit.
2024 Vol. 45 (6): 777-785 [Abstract] ( 64 ) HTML (1 KB)  PDF (871 KB)  ( 34 )
786 Research on Multi-Scale Defect Detection System of Lens Based on Lightweight Feature Selection
XU Zhenying,YANG Yutong,LEI Yingjun,WANG Yun,WU Ziqian,HAN Liling
DOI: 10.3969/j.issn.1000-1158.2024.06.03
In order to solve the problem of difficulty in identifying and locating lens defects, a multi-scale lens defect detection system based on lightweight feature selection (LFSN) is designed. First, in order to increase the image quality, the fault images are fused using the Fourier transform after being obtained through the design of a four-step phase-shifted raster optical imaging system; Then, aiming to optimise the model’s capacity to learn about various defect sizes, the LFSN computes the anchorless frame branching loss during training in order to acquire the ideal feature layer information and update the parameters; Additionally, the system employs depth-separated variable convolution to enhance the offset of pixel points in the plane via bilinear interpolation, thereby enhancing the defect morphology model’s capacity for active learning and somewhat lowering the number of model training parameters to shorten the detection time. Simultaneously, the optimisation of the regression localization loss identifies the training tasks in each stage. The early stage of the prediction frames regression is guided by the primary penalty term, and the late stage of the prediction frames regression is guided by the normalised quadratic term, which brings the prediction frame closer to the real value. Lastly, a dataset is created for comparative studies and lens defect photos were obtained experimentally. The research data demonstrate that this inspection method has a 96.3% accuracy of identifying and locating defects in lens, with a single frame detection time of 24.9ms.
2024 Vol. 45 (6): 786-794 [Abstract] ( 70 ) HTML (1 KB)  PDF (621 KB)  ( 61 )
795 Dynamic Gesture Recognition Method Based on DSConvBiGRU Network and Thermopile Array
GU Liang,YU Lianzhi
DOI: 10.3969/j.issn.1000-1158.2024.06.04
The DSConvBiGRU network model which is suitable for embedded systems and combines depthwise separable convolutional neural networks and bidirectional gated recurrent units for the classification of dynamic gesture sequences is proposed. A dynamic gesture recognition solution which utilizes a low-resolution thermopile array sensor is designed and implemented. An experimental dataset comprising various dynamic gestures has been constructed and publicated on open website. The deployment of the pre-trained network model on the Raspberry Pi edge device has been accomplished. The system preprocesses 20 consecutive temperature matrices exported by the sensor through interval mapping, background subtraction, Lanczos interpolation, and Otsu thresholding to obtain a single dynamic gesture sequence. Subsequently, the pre-trained DSConvBiGRU network is employed for the classification. Experimental results demonstrate that the network model achieves an accuracy of 99.291% on test dataset. The time comsunption of preprocess and inference on the edge device is 5.513ms and 8.231ms respectively. The system meets the design requirements for low-power consumption, high precision, and real-time performance.
2024 Vol. 45 (6): 795-805 [Abstract] ( 74 ) HTML (1 KB)  PDF (1111 KB)  ( 48 )
806 Technology Analysis and Device Design for Automobile Wheel Hub Surface Defect Detection
LIU Fucai,ZHANG Zhenyu,XU Jilong,ZHENG Hongwei,LIU Yang
DOI: 10.3969/j.issn.1000-1158.2024.06.05
Machine vision, as an important method to replace manual detection of wheel hub surface defects, is currently the main research direction in this field. Therefore, a summary and analysis of the research status of surface defect detection technology for automotive hubs is conducted. Firstly, starting with the categories of wheel surface defects and manual detection process, the requirements and difficulties of machine vision-based wheel surface defect detection technology are expounded. Then, the development of intelligent detection algorithms based on machine vision is analyzed, including the application of traditional machine vision methods in defect image preprocessing, defect location and feature extraction, defect classification and recognition, also including the application of deep learning methods such as convolutional neural networks (CNN) in defect detection, segmentation, and other applications. Finally, the existing hub type recognition device, hub defect X-ray image acquisition device, hub surface defect image acquisition device are introduced. On the basis of analyzing the limitations and key technical issues that need to be solved in practical applications of current machine vision based intelligent detection devices, three kinds of intelligent detection experimental device design schemes are proposed. It provides theoretical and technical support for the development and performance improvement of automatic rapid detection device.
2024 Vol. 45 (6): 806-818 [Abstract] ( 71 ) HTML (1 KB)  PDF (797 KB)  ( 78 )
819 Inversion Method of Pulsed Eddy Current Detection for Thermal Barrier Coatings Thickness
FAN Wenru,CHANG Yong
DOI: 10.3969/j.issn.1000-1158.2024.06.06
To measure thermal barrier coatings thickness at the high precision, a pulsed eddy current detection inversion method is proposed. A two-stage processing technique is proposed to preprocess the pulsed eddy current detection signals, and the principal component of the preprocessing signal is extracted by principal component analysis method. Finally, BP neural network is constructed to predict the coatings thickness. The COMSOL modeling and simulation experiment proves that the two-stage processing method can effectively reduce the lift-off effect and distinguish the variations of thickness characteristics. The feature extraction method based on principal component analysis can classify and identify the thickness variations of ceramic layer and bonding layer. The results show that the average relative error of this method is about 0.4% for the thickness of ceramic layer and about 2.6% for the thickness of bonding layer. It can be seen that the inversion accuracy of thermal barrier coatings thickness by the mentioned method is higher.
2024 Vol. 45 (6): 819-826 [Abstract] ( 73 ) HTML (1 KB)  PDF (653 KB)  ( 41 )
827 Research on the Compensation Method of Angular Position Error under the Load Condition of Rotary Table
XIAO Meiliang,XUE Zi,HUANG Yao,ZHU Weibin,LIN Hu,YANG Yu
DOI: 10.3969/j.issn.1000-1158.2024.06.07
Load affects the motion state of the rotary axis of the rotary table, which further affects the magnitude of the angular position error of the rotary table. By analysing the variation of the Fourier order of the rotary table angular position error under the load condition, an error compensation method based on harmonic compensation is proposed. Firstly, the influence of load on the rotary axis of the rotary table is analysed, the mathematical model between the rotary axis error motion and the angular position error is established, and numerical simulation is carried out. Secondly, the magnitude of the rotary axis error motion is affected by the load change, the self-calibration curves under different loads of the rotary table are obtained, and the Fourier order sensitive to the load change is analysed by the Fourier method. Finally, the Fourier order sensitive to load changes is selected to fit the harmonic compensation function to compensate the rotary table angular position error. The maximum angular position error of the rotary table under different load conditions after the error compensation is ±0.25″, which is ±0.03″ different from the angular position error under no-load conditions after the compensation, which effectively reduces the influence of load on the angular position error of the rotary table.
2024 Vol. 45 (6): 827-833 [Abstract] ( 67 ) HTML (1 KB)  PDF (680 KB)  ( 8 )
834 Temperature Distribution Reconstruction of Acoustic Tomography Based on Improved Sparse Reconstruction Model
DONG Xianghu,ZHANG Lifeng
DOI: 10.3969/j.issn.1000-1158.2024.06.08
In order to further improve the reconstruction accuracy of temperature distribution based on acoustic tomography, an error function (ERF) with small deviation is introduced to improve the sparse reconstruction model, and the iterative reweighting algorithm is used to further optimize the model. Finally, the alternating direction multiplier algorithm (ADMM) is used to solve the model, so as to complete the reconstruction of temperature distribution. Simulation and experimental tests are carried out and compared with LASSO, ART and Landweber algorithms. In the simulation experiment, the reconstruction quality of temperature distribution based on ERF model is the best, with the average relative error and root mean square error of 0.1% and 0.14% respectively. In the experimental testing, the average absolute value of the reconstruction temperature error at the set temperature point is the smallest, 0.043%, which is significantly smaller than the other three algorithms.
2024 Vol. 45 (6): 834-841 [Abstract] ( 81 ) HTML (1 KB)  PDF (630 KB)  ( 18 )
842 Research on Temperature Uniformity of Thermocouple Calibration Furnace Based on COMSOL
CHENG Lei,ZHAO Wentao,ZHU Junjie,ZHU Donghuan,NIE Hongqing
DOI: 10.3969/j.issn.1000-1158.2024.06.09
The temperature field performance of thermocouple calibration furnace plays an important role in the calibration of base metal thermocouple and is an important parameter to evaluate the accuracy of thermocouple calibration. In the calibration specification for base metal thermocouples, it is proposed to use thermostatic block to improve temperature field performance of thermocouple calibration furnace.In order to explore how does the thermostatic block improve the uniformity, theoretical analysis was carried out on the main heat transfer methods to achieve temperature rise in the thermocouple calibration furnace. It is holds that the main heat transfer mode in furnace is heat conduction, and the use of alloy thermostatic block with large thermal conductivity and large volume heat capacity can effectively improve the internal thermal conductivity efficiency and enhance the stability of temperature field.Furthermore, numerical simulation was used to calculate the temperature field distribution inside the furnace. The calculation results showed that compared with not placing the thermostatic block, the maximum temperature difference in the axial direction is reduced to 1/3 of the original value, and the maximum temperature difference in the radial direction is reduced to 1/2 of the original value, which is consistent with the theoretical analysis. It is shows that placing thermostatic block is an important means to optimize the temperature field of thermocouple calibration furnace.
2024 Vol. 45 (6): 842-847 [Abstract] ( 82 ) HTML (1 KB)  PDF (599 KB)  ( 26 )
848 Application of Optimization Genetic Algorithm in the Simulation Calculation of Flow Distribution Process of Natural Gas Pipeline Network
LIU Mingliang
DOI: 10.3969/j.issn.1000-1158.2024.06.10
In the flow process of natural gas pipeline network, the gas flow is not uniform at the connection of multiple pipelines, and the loss of flow distribution is difficult to be accurately calculate, which brings calculation errors to the natural gas parameters of downstream pipelines. Based on the actual data of the pipe network, a multi-objective optimization model of flow distribution is constructed, the control equations are processed by linearization method, the multi-objective optimization model is simplified into a single-objective optimization model by selecting boundary conditions. The control matrix is adapted to a three-point format that can be solved using the T DMA method. The genetic algorithm is used to solve the parameters after flow distribution, and the model is corrected in time by monitoring the calculation error, and the subsequent flow distribution process of the pipe network is calculated. The results show that the method can accurately simulate the flow distribution process of natural gas pipeline network, and the maximum errors of pressure,temperature and flow are 0.15% and 0.31%, respectively, and the temperature error is 0.16K, which meets the requirements of energy measurement.
2024 Vol. 45 (6): 848-856 [Abstract] ( 76 ) HTML (1 KB)  PDF (697 KB)  ( 17 )
857 Analysis of Air-gap Magnetic Field of An Electromagnetic Linear-angular Vibration Exciter
YU Jinhui,TANG Bo,CHEN Wei,YANG Jiangen,HE Wen
DOI: 10.3969/j.issn.1000-1158.2024.06.11
To solve the problem that the traditional uniaxial vibrator cannot reproduce the linear-angular space coupling motion,a magnetic circuit structure of an electromagnetic linear-angular vibration exciter that can realize compound vibration is proposed, and the characteristicsits of air-gap magnetic field are analyzed. Firstly, the magnetic circuit and coil structure of the exciter are constructed. An analytical model of the air-gap magnetic field is established based on the equivalent current method,and the maximum relative error with the finite element results is 1.25%, which verified the correctness of the analytical model. Then, the influence of each magnetic circuit parameter on the distribution characteristics of the air-gap magnetic field and the coupling effect between the magnetic field generated by the coil current and the original magnetic field are studied,and the force of the coil during the movement is analyzed. Finally, the prototype of the magnetic circuit topology of the exciter is developed, the linear and the angular vibration air-gap magnetic field are measured,and the maximum relative error between the measured results and the finite element results is less than 5%, which further verifies the effectiveness of the proposed magnetic circuit structure.
2024 Vol. 45 (6): 857-863 [Abstract] ( 59 ) HTML (1 KB)  PDF (700 KB)  ( 10 )
864 Experimental Study on Measurement Accuracy of Nulling and Non-nulling S-type Pitot Tubes
ZHANG Leyao,ZHANG Liang,GUO Suna,GUO Hulin,LU Guixiang,KONG Lingcai
DOI: 10.3969/j.issn.1000-1158.2024.06.12
The accuracy of the nulling and non-nulling of the S-type pitot tube is quite different under different working conditions. The influence of wind velocity,velocity angle of attack and structural parameters on the accuracy of nulling and non-nulling of the S-type pitot tube is studied through the wind tunnel. The results show that when the wind velocity changes from 5 to 30m/s, the maximum difference in the measurement accuracy of pitot tube is more than 10% in nulling and non-nulling at different velocity angles of attack. The pressure change of the static pressure hole in nulling and non-nulling is the main reason for the measurement error of the pitot tube at large velocity angles of attack. The pitot tube with smaller outer diameter, larger distance between total and static pressure hole, bending angle of measuring end between 15° and 30°, and smaller inner diameter of pressure tapping has higher measurement accuracy in both nulling and non-nulling.When the pitch angle is positive,the measurement accuracy of nulling is better than that of non-nulling. When the pitch angle and yaw angle are both 45°, the difference of measurement accuracy reaches the maximum, which is greater than 70%.
2024 Vol. 45 (6): 864-872 [Abstract] ( 74 ) HTML (1 KB)  PDF (1014 KB)  ( 10 )
873 Research on Federated Learning of Numerical Control Machine Fault Diagnosis Based on Edge Cloud Cooperation
XU Lingyan,LU Yi,ZHAO Jing
DOI: 10.3969/j.issn.1000-1158.2024.06.13
In order to solve the problem when the spindle bearing and cutter fault diagnosis model of NC machine tool is trained, it needs massive data and takes a long time. A federated mean learning fault diagnosis model based on edge-cloud collaborative architecture is proposed. Firstly, one-dimensional convolutional neural network model architecture is designed, and local model training is carried out on each edge client to reduce data upload scale and share computing pressure on cloud server side. Then, the model aggregation algorithm is optimized based on the accuracy on the cloud server side, and the edge client screening algorithm is improved to accelerate the convergence rate and improve the accuracy of the model. Thirdly, the KubeEdge cloud collaborative platform based on Kubernetes is built on the cloud server side to shorten the communication time of data transmission. Finally, the experimental results show that the accuracy of fault diagnosis in each edge client of the model is stable at about 87.5%. Compared with the control group, the convergence speed and training time are optimized.
2024 Vol. 45 (6): 873-880 [Abstract] ( 64 ) HTML (1 KB)  PDF (631 KB)  ( 40 )
881 Effects of the Variation of Poissons Ratio on the Calculation of Concrete Damage Based on Wave Velocity
XU Jiahui,YANG Yu,LIU Heng,ZHOU Qiangbing
DOI: 10.3969/j.issn.1000-1158.2024.06.14
The method of calculating material damage using ultrasonic wave velocities are widely used, however the variation in Poissons ratio was often ignored in past researches. The effect of Poissons ratio variations on damage calculation of concrete based on ultrasonic wave velocities was investigated. Firstly, the Poissons ratio correction factor was introduced into the wave velocity-based damage calculation equation through theoretical analysis. Secondly, the necessity of considering Poissons ratio variations was verified by conducting axial compression tests on concrete column specimens. Finally, a Poissons ratio correction factor calculation method was proposed on the basis of the experimental data. The results show that the average relative error between the calculated value based on wave velocity and true value of concrete damage is up to 73% when the effect of Poisson’s ratio variation is ignored, and the error is reduced to 21% by applying the Poissons ratio correction factor. These findings suggest that it is advisable to include the Poissons ratio correction factor to improve the accuracy of the calculation when calculating concrete damage based on wave velocity.
2024 Vol. 45 (6): 881-889 [Abstract] ( 62 ) HTML (1 KB)  PDF (733 KB)  ( 8 )
890 An Inconsistency Assessment Method for Power Battery Pack Based on Adaptive LTTB and DTW-DBA-Means
WU Fenghe,CHAI Haining,ZHANG Zhengzhu,ZHANG Ning,WANG Zhengming,JIANG Zhanpeng,GUO Baosu
DOI: 10.3969/j.issn.1000-1158.2024.06.15
Aiming at the problem that the inconsistency of electric vehicle power battery pack is difficult to be effectively evaluated through external parameters, when analyzing the battery pack voltage data, the Silhouette Coefficient is introduced as the inconsistency evaluation index, and a new inconsistency evaluation method for power battery pack is proposed by integrating adaptive down-sampling (LTTB) and time-series clustering (DTW-DBA-Means) algorithms. Adaptive LTTB can adaptively adjust the compression ratio and sample point allocation in compression intervals according to the characteristics of the battery pack voltage sequence, which can improve the DTW-DBA-Means operation efficiency and ensure the clustering effect. Experiments is conducted based on the real vehicle data running for nine months, the results show that the adaptive LTTB down-sampling effect is better than dynamic LTTB and LTTB, and the DTW-DBA-Means time-series clustering effect is better than k-Shape, and the proposed method can save about 96.7% operation time while ensuring the accuracy of evaluation.
2024 Vol. 45 (6): 890-898 [Abstract] ( 70 ) HTML (1 KB)  PDF (862 KB)  ( 17 )
899 Planar ECT Image Reconstruction Based on FCM and Fast Iterative Shrinkage-thresholding Algorithm
ZHANG Lifeng,TANG Zhihao
DOI: 10.3969/j.issn.1000-1158.2024.06.16
To improve the imaging accuracy of planar array capacitive imaging systems, a fast iterative shrinkage-thresholding algorithm (FISTA) based on fuzzy C-means clustering (FCM) for data optimization is proposed. According to the characteristics of planar array capacitance data, firstly, FCM algorithm is used to classify the measured capacitance values, preserve the effective capacitance values, and achieve dimensionality reduction of the capacitance vector. Then, discrete wavelet bases (DWT) are used to sparsely represent gray values, and L1 regularization model is established to solve the problem using FISTA to achieve image reconstruction. Finally, the capacitance values processed by FCM are used for reconstruction comparison with Landweber algorithm and Tikhonov algorithm respectively. The simulation and experimental results show that the average relative error of the reconstructed image using the proposed algorithm is about 0.0527, and the average correlation coefficient is about 0.9422, both of which are superior to other algorithms. Moreover, the reconstructed image has fewer artifacts and is closer to the real situation. Therefore, the proposed algorithm has better reconstruction performance.
2024 Vol. 45 (6): 899-906 [Abstract] ( 69 ) HTML (1 KB)  PDF (663 KB)  ( 9 )
907 Planar Electromagnetic Tomography Based on Wide-band Excitation
ZHANG Wenbiao,GENG Yijian,YAN Pengxu
DOI: 10.3969/j.issn.1000-1158.2024.06.17
In order to achieve simultaneous detection and imaging of high and low conductivity materials, a wide-band excitation method for the planar electromagnetic tomography is designed. Based on the electromagnetic characteristics of the coil and experimental results, an optimization method for the design of the planar coil array is investigated. Through the finite element model, the sensitivity matrix is obtained using the perturbation method and an improvement is proposed for the uniformity of the sensitivity matrix in order to improve the quality of image reconstruction. The image reconstruction of objects with different conductivity is investigated through the simulation model and the results verify that the proposed planar electromagnetic tomography method can reconstruct high and low conductivity materials. A wide-band excitation system for the planar electromagnetic tomography is built and experimental investigations are conducted on various materials with different conductivity. The experimental results show that the average correlation coefficient is 0.77 and the average location error is 4.46mm.
2024 Vol. 45 (6): 907-914 [Abstract] ( 58 ) HTML (1 KB)  PDF (1014 KB)  ( 14 )
915 Co-planar Array Capacitive Sensor Output Signal Quality Evaluation
LI Ruihang,ZHANG Yuyan,WEN Yintang,PAN Zhao,LI Hongyang
DOI: 10.3969/j.issn.1000-1158.2024.06.18
The output signal quality of a 12-electrode co-planar capacitive sensor (CCS) for each electrode pair was systematically evaluated by finite element simulations and experiments.The results showed that the output signal quality of the electrode pairs was mainly related to the electrode spacing and the contact edge length.Reducing the electrode spacing and increasing the contact edge length are beneficial for improving the output signal quality.An electrode utilization rate (EUR) method was proposed to evaluate the output signal quality of CCS.The output signal quality of CCS with different number of independent electrodes was evaluated by combining EUR.According to the findings,adding more independent electrodes barely improved the useful output information and generated a significant amount of noise.The EUR value declines as the number of independent electrodes rises,which implies that adding more independent electrodes lowers the output signals quality.The outcomes of the image reconstruction were in agreement with the results of the EUR analysis.The effectiveness of EUR for evaluating the output signal quality of multi-electrode CCS was verified experimentally and in simulation.The methods and conclusions may provide a reference for CCS array electrode design and output signal processing.
2024 Vol. 45 (6): 915-921 [Abstract] ( 59 ) HTML (1 KB)  PDF (541 KB)  ( 2 )
922 Research Progress on the Conversion Factor of Quantity Value for Genetically Modified Organism Quantification
LIU Yuanyuan,LI Jiali,JI Shuaishuai,GAO Yunhua,LIU Danmei,WANG Di
DOI: 10.3969/j.issn.1000-1158.2024.06.19
The quantitative results of GM content determined by PCR-based technology are mainly copy number ratio, whereas the labeling regulation specified that the quantitative result must be expressed in the form of a mass fraction. The lack of consistency in measurement unit hinders direct decision-making based on test results. It is urgent to investigate the quantity value relationship between the two measurement scales, and establish a methodology for determining the “conversion factor” value, thus ensuring the direct comparison between quantitative results and labeling threshold. The international labeling systems of genetically modified product are summarized, key affect factors for determining the “conversion factor” and characterization method established by the European Union are systematically analyzed, and the importance of conducting the relevant study in China is also discussed. This review can provide reference for the effective implementation of the labeling system in China.
2024 Vol. 45 (6): 922-928 [Abstract] ( 101 ) HTML (1 KB)  PDF (457 KB)  ( 35 )
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