{"id":"https://openalex.org/W4382998515","doi":"https://doi.org/10.1109/lra.2023.3291896","title":"Virtual Passive-Joint Space Based Time-Optimal Trajectory Planning for a 4-DOF Parallel Manipulator","display_name":"Virtual Passive-Joint Space Based Time-Optimal Trajectory Planning for a 4-DOF Parallel Manipulator","publication_year":2023,"publication_date":"2023-07-03","ids":{"openalex":"https://openalex.org/W4382998515","doi":"https://doi.org/10.1109/lra.2023.3291896"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3291896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3291896","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101708975","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-7739-5501"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018655903","display_name":"Guilin Yang","orcid":"https://orcid.org/0000-0001-6144-3401"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guilin Yang","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6144-3401","affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113942057","display_name":"Haoyu Shi","orcid":"https://orcid.org/0000-0001-7763-0180"},"institutions":[{"id":"https://openalex.org/I13591777","display_name":"University of Nottingham Ningbo China","ror":"https://ror.org/03y4dt428","country_code":"CN","type":"education","lineage":["https://openalex.org/I13591777","https://openalex.org/I142263535"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Shi","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","University of Nottingham Ningbo, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Nottingham Ningbo, Ningbo, China","institution_ids":["https://openalex.org/I13591777"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101520310","display_name":"Silu Chen","orcid":"https://orcid.org/0000-0003-2548-7196"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Silu Chen","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0003-2548-7196","affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101500342","display_name":"Chin-Yin Chen","orcid":"https://orcid.org/0000-0001-5868-5813"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chin-Yin Chen","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-5868-5813","affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101946575","display_name":"Chi Zhang","orcid":"https://orcid.org/0000-0002-1097-7101"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chi Zhang","raw_affiliation_strings":["Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0002-1097-7101","affiliations":[{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6884,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69263833,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"8","issue":"8","first_page":"5039","last_page":"5046"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7231786847114563},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.632321834564209},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5751238465309143},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5682669878005981},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48450466990470886},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.45293503999710083},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.443820059299469},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.42261379957199097},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4223319888114929},{"id":"https://openalex.org/keywords/virtual-work","display_name":"Virtual work","score":0.42014461755752563},{"id":"https://openalex.org/keywords/parallelogram","display_name":"Parallelogram","score":0.4120781719684601},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3464452028274536},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2733945846557617},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2323225736618042},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17919421195983887},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1790907382965088},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17284804582595825},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09538555145263672},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09369921684265137},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.0841144323348999}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7231786847114563},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.632321834564209},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5751238465309143},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5682669878005981},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48450466990470886},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.45293503999710083},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.443820059299469},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42261379957199097},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4223319888114929},{"id":"https://openalex.org/C136560751","wikidata":"https://www.wikidata.org/wiki/Q1144923","display_name":"Virtual work","level":3,"score":0.42014461755752563},{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.4120781719684601},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3464452028274536},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2733945846557617},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2323225736618042},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17919421195983887},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1790907382965088},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17284804582595825},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09538555145263672},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09369921684265137},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.0841144323348999},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3291896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3291896","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W417865342","https://openalex.org/W647721327","https://openalex.org/W1564357159","https://openalex.org/W2090893583","https://openalex.org/W2099065608","https://openalex.org/W2110925939","https://openalex.org/W2139010282","https://openalex.org/W2802393534","https://openalex.org/W2802623716","https://openalex.org/W2901318409","https://openalex.org/W2944268343","https://openalex.org/W2961657550","https://openalex.org/W3006662341","https://openalex.org/W3046156891","https://openalex.org/W3156906773","https://openalex.org/W3201521609","https://openalex.org/W4205800115","https://openalex.org/W4247491447","https://openalex.org/W4306874637","https://openalex.org/W6675048799"],"related_works":["https://openalex.org/W1976096272","https://openalex.org/W4236676391","https://openalex.org/W1965409243","https://openalex.org/W2554021584","https://openalex.org/W172591555","https://openalex.org/W2358666156","https://openalex.org/W2391892769","https://openalex.org/W2366816474","https://openalex.org/W2537091977","https://openalex.org/W2122703848"],"abstract_inverted_index":{"The":[0,121,132,157,188],"4-DOF":[1,88],"(3T1R)":[2],"4":[3],"<underline":[4],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[5],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">P</u>":[6],"Pa-2PaR":[7],"parallel":[8],"manipulator":[9],"is":[10,92,124,135,149,171],"developed":[11],"for":[12,153],"high-speed":[13],"pick-and-place":[14],"operations.":[15],"However,":[16],"conventional":[17],"trajectory":[18,83],"planning":[19,84],"methods":[20],"in":[21,56,64,86,140,166],"either":[22],"active-joint":[23,180,206],"space":[24,27,91,170,181,185,207],"or":[25],"Cartesian":[26,184],"have":[28],"some":[29],"shortcomings":[30],"due":[31],"to":[32,38,49,126,137,151],"its":[33,39],"high":[34],"nonlinear":[35],"kinematics.":[36],"Owing":[37],"unique":[40],"four-to-two":[41],"leg":[42],"structure,":[43],"the":[44,50,72,87,98,104,109,128,141,146,154,162,167,179,194,205],"middle":[45,73],"link":[46,74],"that":[47,161],"connects":[48],"two":[51],"proximal":[52],"parallelogram":[53],"four-bar":[54],"linkages":[55],"each":[57,70],"side":[58],"only":[59,96],"generates":[60],"2-DOF":[61,77],"translational":[62],"motions":[63],"a":[65,76,81],"vertical":[66],"plane.":[67],"By":[68,107],"treating":[69],"of":[71,193],"as":[75],"virtual":[78,89,110,142,168],"passive":[79,111],"joint,":[80],"new":[82],"method":[85,123,182,186],"passive-joint":[90,143,169],"proposed,":[93],"which":[94],"not":[95],"simplifies":[97],"kinematic":[99],"analysis,":[100],"but":[101],"also":[102],"decreases":[103],"kinematics":[105],"nonlinearity.":[106],"introducing":[108],"joints,":[112],"both":[113],"displacement":[114],"and":[115,175,183,190,201],"velocity":[116],"analyses":[117],"are":[118,197],"readily":[119],"investigated.":[120],"Lagrangian":[122],"employed":[125],"formulate":[127],"closed-form":[129],"dynamic":[130],"model.":[131],"quintic":[133],"B-spline":[134],"utilized":[136],"generate":[138],"trajectories":[139],"space,":[144],"while":[145],"Genetic":[147],"Algorithm":[148],"implemented":[150],"search":[152],"time-optimal":[155],"trajectory.":[156],"simulation":[158],"results":[159],"show":[160],"motion":[163],"time":[164],"planned":[165],"decreased":[172,198],"by":[173,199],"2.8%":[174],"8.1%":[176],"compared":[177,203],"with":[178,204],"respectively.":[187],"average":[189],"peak":[191],"jerks":[192],"moving":[195],"platform":[196],"14.6%":[200],"37.6%":[202],"method.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
