{"id":"https://openalex.org/W4386883508","doi":"https://doi.org/10.1109/rcar58764.2023.10249551","title":"The Accuracy Analysis of Tool Center Point Calibration via Condition Number and Minimum Eigenvalue","display_name":"The Accuracy Analysis of Tool Center Point Calibration via Condition Number and Minimum Eigenvalue","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4386883508","doi":"https://doi.org/10.1109/rcar58764.2023.10249551"},"language":"en","primary_location":{"id":"doi:10.1109/rcar58764.2023.10249551","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar58764.2023.10249551","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101906921","display_name":"Ziqi Gao","orcid":"https://orcid.org/0000-0002-2575-2327"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Gao","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","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/A5078799537","display_name":"Yingli Li","orcid":"https://orcid.org/0000-0001-5615-3047"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingli Li","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","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/A5101535334","display_name":"Yang Luo","orcid":"https://orcid.org/0000-0002-7688-4995"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Luo","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013186730","display_name":"Yunxiang Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunxiang Jiang","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100632736","display_name":"Bi Zhang","orcid":"https://orcid.org/0000-0001-5738-3266"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bi Zhang","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037953832","display_name":"Xingang Zhao","orcid":"https://orcid.org/0000-0001-8194-1870"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingang Zhao","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089683469","display_name":"Lingkai Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingkai Chen","raw_affiliation_strings":["Research Institute of Interdisciplinary Innovation, Zhejiang Lab,Research Center for Intelligent Robotics,Hangzhou,China,311100","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Interdisciplinary Innovation, Zhejiang Lab,Research Center for Intelligent Robotics,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101971483","display_name":"Yiwen Zhao","orcid":"https://orcid.org/0000-0002-3853-7458"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"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/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiwen Zhao","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China,110016","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]},{"raw_affiliation_string":"Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"340","last_page":"344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/calibration","display_name":"Calibration","score":0.7960103750228882},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.6871416568756104},{"id":"https://openalex.org/keywords/condition-number","display_name":"Condition number","score":0.5749022364616394},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5334375500679016},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5101962089538574},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.48825883865356445},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.46039173007011414},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4151984751224518},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11686939001083374},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08666828274726868}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7960103750228882},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.6871416568756104},{"id":"https://openalex.org/C84545080","wikidata":"https://www.wikidata.org/wiki/Q1147936","display_name":"Condition number","level":3,"score":0.5749022364616394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5334375500679016},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5101962089538574},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.48825883865356445},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.46039173007011414},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4151984751224518},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11686939001083374},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08666828274726868},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar58764.2023.10249551","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar58764.2023.10249551","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2010561473","https://openalex.org/W2419212966","https://openalex.org/W2766164800","https://openalex.org/W2960322884","https://openalex.org/W3118451229","https://openalex.org/W3118460732","https://openalex.org/W3144148359","https://openalex.org/W3217519761"],"related_works":["https://openalex.org/W2165749285","https://openalex.org/W2062626603","https://openalex.org/W2474979212","https://openalex.org/W2562455930","https://openalex.org/W2001036795","https://openalex.org/W127450631","https://openalex.org/W2154748900","https://openalex.org/W4306743306","https://openalex.org/W4308012852","https://openalex.org/W2535163189"],"abstract_inverted_index":{"The":[0,97],"accuracy":[1,13,23,70],"of":[2,14,25,28,59,63,107,136],"TCP":[3,26,68,74],"(tool":[4],"center":[5],"point)":[6],"calibration":[7,27,69,75,82,95,108,137],"is":[8,39],"vital":[9],"to":[10],"the":[11,15,22,29,57,60,64,73,94,101,105,130,134],"operation":[12],"robot.":[16],"In":[17],"this":[18],"paper,":[19],"we":[20],"analyzed":[21],"analysis":[24,89],"regression":[30,44],"matrix":[31,45,115],"via":[32],"condition":[33,49,117],"number":[34,50,118],"and":[35,51,71,87,104,113,125,129,133,142,151],"minimum":[36],"eigenvalue.":[37],"It":[38],"theoretically":[40],"proved":[41],"that":[42,100],"a":[43,47,52],"with":[46],"large":[48],"small":[53],"eigenvalue":[54,144],"will":[55],"aggravate":[56],"influence":[58],"observation":[61],"error":[62,109,138],"measurement":[65],"point":[66],"on":[67,93],"increase":[72],"error.":[76],"To":[77],"verify":[78],"our":[79],"analysis,":[80],"simulation":[81],"experiments":[83],"were":[84],"carried":[85,91],"out":[86,92],"statistical":[88],"was":[90],"results.":[96],"result":[98],"shows":[99],"mathematical":[102,131],"expectation":[103,132],"variance":[106,135],"at":[110,139],"minimum,":[111,140],"median,":[112,141],"maximum":[114,143],"CA":[116],"are":[119,145],"1.36mm":[120],"(\u00b10.60mm),":[121],"1.57mm":[122],"(\u00b1":[123,147,153],"0.75mm)":[124],"2.94mm":[126],"(\u00b12.26mm)":[127],"respectively,":[128],"3.33mm":[146],"2.32mm),":[148],"1.54mm":[149],"(\u00b10.72mm)":[150],"1.16mm":[152],"0.49mm),":[154],"respectively.":[155]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
