{"id":"https://openalex.org/W4393241287","doi":"https://doi.org/10.1109/tsmc.2024.3374071","title":"Data-Driven Parallel Adaptive Control for Magnetic Helical Microrobots With Derivative Structure in Uncertain Environments","display_name":"Data-Driven Parallel Adaptive Control for Magnetic Helical Microrobots With Derivative Structure in Uncertain Environments","publication_year":2024,"publication_date":"2024-03-27","ids":{"openalex":"https://openalex.org/W4393241287","doi":"https://doi.org/10.1109/tsmc.2024.3374071"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2024.3374071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3374071","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Transactions on Systems, Man, and Cybernetics: Systems","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/A5101471798","display_name":"Huaping Wang","orcid":"https://orcid.org/0000-0001-8440-3402"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaping Wang","raw_affiliation_strings":["Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing Institute of Technology, Beijing, China","Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8440-3402","affiliations":[{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002842701","display_name":"Shihao Zhong","orcid":"https://orcid.org/0000-0001-5710-1767"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shihao Zhong","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5710-1767","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101779242","display_name":"Zhiqiang Zheng","orcid":"https://orcid.org/0000-0001-7077-5635"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Zhiqiang Zheng","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","Department of Physical Intelligence, Max Planck Institute, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7077-5635","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Department of Physical Intelligence, Max Planck Institute, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011265988","display_name":"Qing Shi","orcid":"https://orcid.org/0000-0002-9914-7314"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Shi","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9914-7314","affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054228362","display_name":"Tao Sun","orcid":"https://orcid.org/0000-0002-2380-340X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Sun","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5269-4161","affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065569192","display_name":"Toshio Fukuda","orcid":"https://orcid.org/0000-0002-3885-7152"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Toshio Fukuda","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3885-7152","affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.9025,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.98993473,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"54","issue":"7","first_page":"4139","last_page":"4150"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9851999878883362,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/feed-forward","display_name":"Feed forward","score":0.765737771987915},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.700173556804657},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6730353236198425},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5674350261688232},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5440123081207275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.492109477519989},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4607926309108734},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4538026452064514},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41404667496681213},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38920122385025024},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32349488139152527},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27732789516448975},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.243109792470932},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15657001733779907},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11503976583480835}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.765737771987915},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.700173556804657},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6730353236198425},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5674350261688232},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5440123081207275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.492109477519989},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4607926309108734},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4538026452064514},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41404667496681213},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38920122385025024},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32349488139152527},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27732789516448975},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.243109792470932},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15657001733779907},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11503976583480835},{"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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2024.3374071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3374071","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1219827451","display_name":null,"funder_award_id":"62222305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3615404685","display_name":null,"funder_award_id":"62073042","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4729938373","display_name":null,"funder_award_id":"4232055","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G6547727834","display_name":null,"funder_award_id":"U22A2064","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6997825177","display_name":null,"funder_award_id":"2023YFB4705400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2040779745","https://openalex.org/W2054430081","https://openalex.org/W2120009988","https://openalex.org/W2151083101","https://openalex.org/W2499494728","https://openalex.org/W2747463581","https://openalex.org/W2759702527","https://openalex.org/W2783641035","https://openalex.org/W2801497431","https://openalex.org/W2946234510","https://openalex.org/W2965740025","https://openalex.org/W2966973524","https://openalex.org/W2983370675","https://openalex.org/W2998349374","https://openalex.org/W3010276891","https://openalex.org/W3026120149","https://openalex.org/W3095434699","https://openalex.org/W3119476236","https://openalex.org/W3154721963","https://openalex.org/W3165507109","https://openalex.org/W3199275291","https://openalex.org/W3206857664","https://openalex.org/W3214031966","https://openalex.org/W3215949531","https://openalex.org/W4205579390","https://openalex.org/W4206275947","https://openalex.org/W4225538555","https://openalex.org/W4254721730","https://openalex.org/W4285235497","https://openalex.org/W4293150143","https://openalex.org/W4294311002","https://openalex.org/W4296704820","https://openalex.org/W4312331824","https://openalex.org/W4313347125","https://openalex.org/W4319334812","https://openalex.org/W4322706888","https://openalex.org/W4323363131","https://openalex.org/W4388849927","https://openalex.org/W4389987375"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W620095722","https://openalex.org/W2057244293","https://openalex.org/W1589486833","https://openalex.org/W2116883285"],"abstract_inverted_index":{"Micron-range":[0],"untethered,":[1],"magnetic":[2],"helical":[3,41,59,105,142,148,208,215],"robots":[4],"have":[5],"great":[6],"potential":[7],"for":[8,65],"biomedical":[9],"applications":[10],"due":[11],"to":[12,150,202],"their":[13],"desirable":[14],"performance":[15,69],"with":[16,56,107,120,193,226],"high":[17],"flexibility":[18],"and":[19,23,36,98,123,140,189,222],"accuracy":[20],"in":[21,33,110],"unstructured":[22],"confined":[24],"environments.":[25],"However,":[26],"at":[27],"the":[28,34,68,71,133,136,141,147,153,163,167,196,212,234,239,242],"microscale,":[29],"time-varying":[30],"uncertain":[31],"disturbances":[32],"environment":[35],"electromagnetic":[37,137],"system":[38],"greatly":[39],"hinder":[40],"microrobot":[42,48,143,149,209,216,235],"tracking":[43,97,221,227],"control":[44,73,100,114,205],"performance.":[45],"When":[46],"a":[47,53,57,84,102,117],"is":[49,63,200],"replaced":[50],"or":[51,77],"even":[52,78],"derivative":[54],"version":[55],"slight":[58],"body":[60,236],"structure":[61,119],"change":[62],"used":[64],"different":[66,111],"tasks,":[67],"of":[70,104,233,241],"original":[72],"scheme":[74],"remarkably":[75],"decreases":[76],"becomes":[79],"ineffective.":[80],"Here,":[81],"we":[82],"propose":[83],"data-driven":[85],"optimal":[86],"integrated":[87],"controller":[88,130,160,164,199],"(D":[89],"<sup":[90],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[91],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[92],"-OIC)":[93],"that":[94],"realizes":[95],"precise":[96],"transfer":[99,204],"among":[101,206],"series":[103],"microrobots":[106],"derived":[108],"structures":[109],"situations.":[112],"The":[113,127,157],"approach":[115,152],"has":[116],"parallel":[118],"nonlinear":[121,128,182,197],"feedforward":[122,129,198],"linear":[124,158],"feedback":[125,159,170],"controllers.":[126],"inversely":[131],"maps":[132],"relationship":[134],"between":[135],"field":[138],"state":[139],"motion":[144,155,178],"state,":[145],"allowing":[146],"quickly":[151],"desired":[154],"state.":[156],"effectively":[161],"adjusts":[162],"parameters":[165],"using":[166],"virtual":[168],"reference":[169],"tuning":[171],"(VRFT)":[172],"method,":[173],"thus":[174],"eliminating":[175],"any":[176],"residual":[177],"errors":[179,228],"arising":[180],"from":[181],"control.":[183],"By":[184],"retraining":[185],"on":[186],"newly":[187],"acquired":[188],"collected":[190],"cumulative":[191],"data":[192],"assigned":[194],"weights,":[195],"updated":[201],"achieve":[203],"various":[207],"types.":[210],"In":[211],"experiment,":[213],"two":[214],"types":[217],"performed":[218],"arbitrary":[219],"path":[220],"obstacle":[223],"avoidance":[224],"tasks":[225],"consistently":[229],"less":[230],"than":[231],"4%":[232],"length,":[237],"demonstrating":[238],"feasibility":[240],"proposed":[243],"method.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":10}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
