backup thesis

Thesis_LaTeX/Thesis_Jingyi.tex → Concepts for operating ground based rescue robots using virtual reality/Thesis_Jingyi.tex

@@ -19,9 +19,9 @@
 % Glossary
 % makeglossaries "Thesis_Jingyi"
 %%%%%%%%%%%%%%%%%%%
-\usepackage{glossaries}
-\usepackage[xindy, nonumberlist, acronym,nomain]{glossaries-extra}
+\usepackage[xindy, nonumberlist,acronym,automake]{glossaries-extra}
 \RestoreAcronyms
+
 \input{chapters/glossary.tex}
 
 
@@ -101,26 +101,42 @@
 
 \maketitle
 \affidavit
-\tableofcontents
 
+
+\newpage
 \input{chapters/abstract.tex}
+
+\tableofcontents
+
+\newpage
 \input{chapters/introduction.tex}
+
+\newpage
 \input{chapters/related_work.tex}
+
+\newpage
 \input{chapters/implementation.tex}
+
+\newpage
 \input{chapters/evaluate.tex}
+
+\newpage
 \input{chapters/result.tex}
+
+\newpage
 \input{chapters/conclusion.tex}
 
 \newpage
+\addcontentsline{toc}{chapter}{\listfigurename}
 \listoffigures
 %\newpage
 %\listoftables  
 
-% \newpage
-
+\newpage
 \GlsXtrSetDefaultGlsOpts{noindex}
 \printglossaries
 
-\printbibliography
+\newpage
+\printbibliography[heading=bibintoc,title={References}]
 
 \end{document}

Concepts for operating ground based rescue robots using virtual reality/chapters/abstract.tex

@@ -0,0 +1,18 @@
+\selectlanguage{english}
+\begin{abstract}
+
+
+\end{abstract}
+
+
+
+
+
+
+
+\selectlanguage{ngerman}
+\begin{abstract}
+
+\end{abstract}
+
+\selectlanguage{english}

Thesis_LaTeX/chapters/conclusion.tex → Concepts for operating ground based rescue robots using virtual reality/chapters/conclusion.tex

@@ -1,2 +1,2 @@
-\chapter{Conclusion and future work}
+\chapter{Conclusion and future work}
 \label{conclusion}

Concepts for operating ground based rescue robots using virtual reality/chapters/evaluate.tex

@@ -0,0 +1,32 @@
+\chapter{Evaluation of User Experience}
+\label{evaluate}
+
+This chapter describes the design and detailed process of the user evaluation. The purpose of this user study is to measure the impact of four different modes of operation on rescue efficiency, robot driving performance, and psychological and physiological stress and fatigue, etc. For this purpose, participants are asked to find victims in a test scene using different operation modes and answer questionnaires after the test corresponding to each mode of operation.
+
+
+\section{Study Design}
+
+The evaluation for each mode of operation consists of two main parts. The first part is the data recorded during the process of the participant driving the robot in the \gls{vr} environment to find the victims. The recorded data includes information about the robot's collision and the speed of driving etc. The rescue of the victims was also considered as part of the evaluation. \gls{tlx} was used to measure the participant's subjective workload assessments. Additionally, participants were asked specific questions for each mode and were asked to select their favorite and least favorite operation mode. In order to reduce the influence of order effects on the test results, the Balanced Latin Square was used when arranging the test order for the four operation modes.
+
+
+
+\section{Procedure}
+\subsection{Demographics and Introduction }
+Before the beginning of the actual testing process, participants were informed of the purpose of this work, the broad process and the content of data that would be collected. After filling in the basic demographics and signing a consent form, the features of each of the four modes of operation and their rough usage were introduced verbally with a display of the buttons on the motion controllers.
+
+
+
+\subsection{Entering the world of VR}
+After the essential introduction part, participants would directly put on the \gls{vr} headset and enter the \gls{vr} environment to complete the rest of the tutorial. Considering that participants might not have experience with \gls{vr} and that it would take time to learn how to operate the four different modes, the proposed system additionally sets up a practice pattern and places some models of victims in the practice scene. After entering the \gls{vr} world, participants first needed to familiarize themselves with the opening and closing menu, as well as using the motion controllers to try to teleport themselves, or raise themselves into mid-air. Finally, participants were asked to interact with the victim model through virtual hands. After this series of tutorials, participants were already generally familiar with the use of \gls{vr} and how to move around in the \gls{vr} world.
+
+
+
+\subsection{Practice and evaluation of modes}
+Given the different manipulation approaches for each mode and possible confusion between the different modes, participants would take turns practicing and directly evaluating each mode immediately afterward. 
+
+The sequence of modes to be tested is predetermined. The order effect is an important factor affecting the test results. If the order of the operation modes to be tested would be the same for each participant, the psychological and physical exhaustion caused by the last operation mode would inevitably be more. In order to minimize the influence of the order effect on the results, the Balanced Latin Square with a size of four was used to arrange the test order of the four operation modes.
+
+Participants automatically entered the practice scene corresponding to the relevant operation mode in the predefined order. After attempting to rescue 1-2 victim models and the participant indicated that he or she was familiar enough with this operation mode, the participant would enter the test scene. In the test scene, participants had to save as many victims as possible in a given time limit. Participants were required to move the robot around the test scene to explore the post-disaster city and rescue victims. During this process, if the robot crashes with buildings or obstacles, besides the collision information being recorded as test data, participants would also receive sound and vibration feedback. The test will automatically end when time runs out or when all the victims on the scene have been rescued. Participants were required to complete the evaluation questionnaire and \gls{tlx} form at the end of each test. This process was repeated in each mode of operation. 
+
+After all the tests were completed, participants were asked to compare the four operation modes and select the one they liked the most and the one they liked the least. In addition, participants could give their reasons for the choice and express their opinions as much as they wanted, such as suggestions for improvement or problems found during the operation.
+

Concepts for operating ground based rescue robots using virtual reality/chapters/glossary.tex

@@ -0,0 +1,116 @@
+\NewDocumentCommand{\newdualentry}{m m m m o o}{%
+	\IfValueTF{#5}
+	{\newglossaryentry{main-#1}{name={#3},%
+		text={#2\glsadd{#1}},%
+		description={\glsresetall#4}%
+	}%
+	\newacronym[longplural={#5}, shortplural={#6}]{#1}{#2\glsadd{main-#1}}{#3}
+	}
+	{\newglossaryentry{main-#1}{name={#3},%
+			text={#2\glsadd{#1}},%
+			description={\glsresetall#4}%
+		}%
+		\newacronym{#1}{#2\glsadd{main-#1}}{#3}
+	}
+}
+
+\newdualentry{crasar} % label
+{CRASAR}            % abbreviation
+{The Center for Robot-Assisted Search and Rescue}  % long form
+{\glsresetall A nonprofit corporation dedicated to unmanned systems technology for public safety. It aims to promote the effective use of unmanned systems by formal emergency management agencies.
+}% description
+
+
+\newdualentry{ar} % label
+{AR}            % abbreviation
+{Augmented Reality}  % long form
+{\glsresetall AR
+}% description
+
+
+\newdualentry{vr} % label
+{VR}            % abbreviation
+{Virtual Reality}  % long form
+{\glsresetall VR
+}% description
+
+\newdualentry{mr} % label
+{MR}            % abbreviation
+{Mixed Reality}  % long form
+{\glsresetall xx
+}% description
+
+
+\newdualentry{lidar} % label
+{LiDAR}            % abbreviation
+{light detection and ranging}  % long form
+{\glsresetall xx
+}% description
+
+
+\newdualentry{ros} % label
+{ROS}            % abbreviation
+{Robot Operating System}  % long form
+{\glsresetall xx
+}% description
+
+\newdualentry{tlx} % label
+{TLX}            % abbreviation
+{The Official NASA Task Load Index}  % long form
+{\glsresetall xx
+}% description
+
+
+%%%%%%%%%%%%%%%%%%%%%% Glossaryentry %%%%%%%%%%%%%%%%%%%%%%
+
+\newglossaryentry{hri}
+{name={Human-Robot Interaction},
+	description={\glsresetall xx}
+}
+
+\newglossaryentry{hrintergration}
+{name={Human-Robot Integration},
+	description={\glsresetall xxxx }
+}
+
+\newglossaryentry{hrc}
+{name={Human–Robot Collaboration},
+	description={\glsresetall The study of collaborative processes in human and robot agents work together. It includes classical robotics, human-computer interaction, artificial intelligence, design, cognitive sciences and psychology.}
+}
+
+
+\newglossaryentry{rosk}
+{name={ROS Kinect},
+	description={\glsresetall xx}
+}
+
+\newglossaryentry{unity}
+{name={Unity},
+	description={\glsresetall xx}
+}
+
+\newglossaryentry{steamvr}
+{name={Steam VR plugin},
+	description={\glsresetall xx}
+}
+
+\newglossaryentry{nav}
+{name={NavMeshAgent},
+	description={\glsresetall xx}
+}
+
+
+
+\newglossaryentry{htc}
+{name={HTC VIVE},
+	description={\glsresetall xx}
+}
+
+
+
+
+
+
+\makeglossaries
+% Use glsunset to set the first-use-flag. This prevents gloassaries-extra to append the short form to the long form on first use.
+% Use this i.e. for entries where long and short form are identical.

Concepts for operating ground based rescue robots using virtual reality/chapters/implementation.tex

@@ -0,0 +1,66 @@
+\chapter{Implementation}
+\label{implementation}
+
+% summary
+In this chapter, the tools and techniques used in building this \gls{vr}-based \gls{hri} system are described. Particular emphasis is given to the interaction techniques for different operation modes. In addition, the setup of the robot and the construction of test scenes will also be covered in this chapter.
+
+
+\section{Overview}
+The main goal of this work is to design and implement a \gls{vr}-based \gls{hri} system with different methods of operating the robot in order to find out which method of operation is more suitable to control the rescue robot. Further, it is to provide some fundamental insights for future development directions and to provide a general direction for finding an intuitive, easy-to-use and efficient interaction approach for \gls{hri}. Therefore, the proposed system was developed using \gls{unity}, including four operation modes and corresponding test scenes for simulating post-disaster scenarios. In each operation mode, the user has a different method to control the robot. In addition, in order to better simulate the process by which the robot scans its surroundings and the computer side cumulatively gets a reconstructed 3D virtual scene, the test environment was implemented in such a way that the scene seen by the user depends on the robot's movement and the trajectory it travels through.
+
+\section{System Architecture}
+The proposed system runs on a computer with the Windows 10 operating system. This computer has been equipped with an Intel Core i7-8700K CPU, 32 GB RAM as well as a NVIDIA GTX 1080 GPU with 8 GB VRAM. \gls{htc} is used as a \gls{vr} device. It has a resolution of 1080 × 1200 per eye, resulting in a total resolution of 2160 × 1200 pixels, a refresh rate of 90 Hz, and a field of view of 110 degrees. It includes two motion controllers and uses two Lighthouses to track the headset's position and the motion controllers.
+
+\gls{unity} was chosen as the platform to develop the system. \gls{unity} is a widely used game engine with \gls{steamvr} \footnote{https://assetstore.unity.com/packages/tools/integration/steamvr-plugin-32647}, which allows developers to focus on the \gls{vr} environment and interactive behaviors in programming, rather than specific controller buttons and headset positioning, making \gls{vr} development much simpler. Another reason why \gls{unity} was chosen as a development platform was the potential for collaboration with \gls{ros}, a frequently used operating system for robot simulation and manipulation, which is flexible, low-coupling, distributed, open source, and has a powerful and rich third-party feature set. In terms of collaboration between \gls{unity} and \gls{ros}, Siemens provides open-source software libraries and tools in C\# for communicating with ROS from .NET applications \footnote{https://github.com/siemens/ros-sharp}. Combining \gls{ros} and \gls{unity} to develop a collaborative \gls{hri} platform proved to be feasible \cite{Whitney:2018wk}. Since the focus of this work is on \gls{hri}, collaboration and synchronization of \gls{ros} will not be explored in detail here.
+
+\section{Robot}
+The proposed system needs to simulate the process that a robot uses a \gls{lidar} remote sensor to detect the real environment and synchronize it to \gls{unity}. Thus, a sphere collision body was set up on the robot. The robot will transform the Layers of the objects in the scene into visible Layers by collision detection and a trigger event (onTriggerEnter function). The robot's driving performance, such as the number of collisions, average speed, total distance, will be recorded in each test. The detailed recorded information can be seen in Chapter \ref{result}. The movement of the robot depends on the value of the signal that is updated in each mode. In addition, the robot's Gameobject has the \gls{nav} \footnote{https://docs.unity3d.com/ScriptReference/AI.NavMeshAgent.html} component, which supports the robot's navigation to the specified destination with automatic obstacle avoidance in the test scene. The virtual robot has three cameras. One of the cameras is a simulation of a surveillance camera mounted on the robot, which can see all the items in the scene, although the distant items are not yet detected by LiDAR. Two of these cameras are set up in such a way that they can only see the area detected by \gls{lidar}. Each camera captures what it sees and modifies the bound image in real time. The four operation modes described later all use the camera viewport as a monitoring screen by rendering the camera viewport on UI canvas.
+
+
+\section{Interaction techniques}
+This system has four different approaches to control the robot. Each mode has its own distinctive features: 
+
+\begin{enumerate}
+\item In Handle Mode, the user will send control commands directly using the motion controller. 
+\item In Lab Mode, a simulated lab is constructed in the \gls{vr} environment and the user will use virtual buttons in the lab to control the rescue robot. 
+\item In Remote Mode, the user can set the driving destination directly. 
+\item In UI Mode, the user has a virtual menu and sends commands via rays from the motion controller.
+\end{enumerate}
+
+In order to improve the reusability of the code and facilitate the management of subsequent development, the classes that manage the interaction actions of each mode implement the same interface. A graphical representation of the system structure is given in the UML activity diagram in Fig.\ref{fig:uml}.
+
+\begin{figure}[htbp]
+    \centering
+    \includegraphics[width=\textwidth]{graphics/uml.png}
+    \caption{UML Class diagram for the main structure of the system}
+    \label{fig:uml}
+\end{figure}
+
+\subsection{Handle Mode}
+In this mode, the user controls the robot's movement directly through the motion controller in the right hand. The touchpad of the motion controller determines the direction of rotation of the robot. The user can control the robot's driving speed by pulling the Trigger button. Fig.\ref{fig:htc} shows the \gls{htc} motion controller. The robot rotation direction will read the value of the touchpad X-axis. The range of values is $[-1,1]$. Forward speed reads the Trigger button passed in as a variable of type SteamVR\_Action\_Single, and the range of the variable is $[0,1]$. With the right-hand menu button, the surveillance screen around the robot can be turned on or off. The monitor window can be adjusted to a suitable position by dragging and rotating it. In the literature dealing with \gls{vr} and \gls{hri}, many researchers have used a similar operational approach. Therefore, as a widely used, and in a sense default operation approach, this mode was designed and became one of the proposed operation modes.
+
+\begin{figure}[htbp]
+    \centering
+	\includegraphics[height=10cm]{graphics/htc.png}
+	\caption{HTC handle illustration.}
+	\label{fig:htc}
+\end{figure}
+
+\subsection{Lab Mode}
+This pattern was designed with reference to the system proposed by \cite{Perez:2019ub}\cite{Matsas:2017aa}. Their frameworks are used to train operators to work with the robot, avoiding risks and saving learning costs. In addition, they also mentioned that being in a simulated factory or laboratory can improve immersion. Therefore, in this mode, a virtual laboratory environment is constructed, in which simulated buttons, controllers, and monitoring equipment are placed. The laboratory consists of two parts. The first part is the monitoring equipment: the monitoring screen is enlarged and placed at the front of the lab as a huge display. The second part is the operating console in the center of the laboratory, which can be moved by the user as desired. This is due to the fact that users have different heights and may wish to operate the robot in a standing or sitting position. The user can use the buttons on the table to lock the robot or let it walk forward automatically. In the middle of the console are two operating joysticks that determine the robot's forward motion and rotation respectively. The part that involves virtual joystick movement and button effects uses an open-source GitHub project VRtwix\footnote{https://github.com/rav3dev/vrtwix}. With the sliding stick on the left, the user can edit the speed of the robot's forward movement and rotation.
+
+\subsection{Remote Mode}
+In this mode, the user can set the driving target point directly or control the robot by picking up the remote control placed on the toolbar. The target point is set by the ray emitted by the right motion controller. This process is similar to setting a teleportation point. After the target point is set, a square representing the destination is shown in the scene, and the robot will automatically travel to the set destination. The entire driving process uses the \gls{nav} component and is therefore capable of automatic obstacle avoidance.
+A movable toolbar with remote control and a monitoring device can be opened by clicking on the menu button. The remote control is a safety precaution if the automatic navigation fails to navigate the target point properly. The user can adjust the direction of the robot's travel by using the remote control. The pickup and auto-release parts use the ItemPackage component available in the \gls{steamvr}.
+
+
+\subsection{UI Mode}
+The virtual menu is also an interaction method that is often used in \gls{vr}, so this mode is proposed. In this mode, the user must interact with the virtual menu using the ray emitted by the right motion controller. The virtual menu is set up with buttons for the direction of movement, a speed controller, and buttons to open and close the monitor screen. In addition to this, an additional follow function is added to the menu, allowing the robot to follow the user's position in the virtual world. This is intended to let the user concentrate on observing the rendered \gls{vr} environment. Also, having a real robot following the user's location in the virtual world is a novel, unique \gls{hri} approach in \gls{vr}. The robot's automatic navigation uses the \gls{nav}.
+
+
+\section{Test Scene}
+In order to simulate the use of rescue robots in disaster scenarios, the test scenes were built to mimic the post-disaster urban environment as much as possible. The POLYGON Apocalypse \footnote{https://assetstore.unity.com/packages/3d/environments/urban/polygon-apocalypse-low-poly-3d-art-by-synty-154193}, available on the \gls{unity} Asset Store, is a low poly asset pack with a large number of models of buildings, streets, vehicles, etc. This resource pack was used as a base. Additional collision bodies of the appropriate size were manually added to each building and obstacle after the resource pack was imported, which was needed to help track the robot's driving crash in subsequent tests.
+
+Considering that four operation modes need to be tested, four scenes with similar complexity and composition but different road conditions and placement of buildings were constructed. The similarity in complexity of the scenes ensures that the difficulty of the four tests is basically identical. The different scene setups ensure that the scene information learned by the user after one test will not make him understand the next test scene and thus affect the accuracy of the test data. 
+
+The entire scene is initially invisible, and the visibility of each object in the test scene is gradually updated as the robot drives along. Ten interactable sufferer characters were placed in each test scene. The placement place can be next to the car, the house side and some other reasonable places.

Concepts for operating ground based rescue robots using virtual reality/chapters/introduction.tex

@@ -0,0 +1,31 @@
+\chapter{Introduction}
+
+In recent years, natural disasters such as earthquakes, tsunamis and potentially nuclear explosives have seriously threatened the safety of human life and property. While the number of various disasters has increased, their severity, diversity and complexity have also gradually increased. The 72h after a disaster is the golden rescue time, but the unstructured environment of the disaster site makes it difficult for rescuers to work quickly, efficiently and safely.
+
+Rescue robots have the advantages of high mobility and handling breaking capacity. They can work continuously to improve the efficiency of search and rescue. Also, those robots can achieve the detection of the graph, sound, gas and temperature within the ruins by carrying a variety of sensors.
+When rescue robots can assist or replace the rescuers, the injuries caused by the secondary collapse could be avoided, and risks faced by rescuers might be lower. Thus, rescue robots have become an important development direction.
+
+In fact, rescue robots have been put to use in a number of disaster scenarios. 
+\gls{crasar} used rescue robots for Urban Search and Rescue task during the World Trade Center collapse in 2001 \cite{Casper:2003tk} and has employed rescue robots at multiple disaster sites in the years since to assist in finding survivors, inspecting buildings and scouting the site environment etc \cite{Murphy:2012th}. Anchor Diver III was utilized as underwater support to search for bodies drowned at sea after the 2011 Tohoku Earthquake and Tsunami \cite{Huang:2011wq}.
+
+Considering the training time and space constraints for rescuers \cite{Murphy:2004wl}, and the goal of efficiency and fluency collaboration \cite{10.1145/1228716.1228718}, the appropriate \gls{hri} approach deserves to be investigated. Some of the existing \gls{hri} methods are Android software \cite{Sarkar:2017tt} \cite{Faisal:2019uu}, gesture recognition\cite{Sousa:2017tn} \cite{10.1145/2157689.2157818} \cite{Nagi:2014vu}, facial voice recognition \cite{Pourmehr:2013ta}, adopting eye movements \cite{Ma:2015wu}, \gls{ar} \cite{SOARES20151656} and \gls{vr}, etc.
+
+% VR and robot
+Among them, \gls{vr} has gained much attention due to its immersion and the interaction method that can be changed virtually. \gls{vr} is no longer a new word. With the development of technology in recent years, \gls{vr} devices are gradually becoming more accessible to users. With the improvement of hardware devices, the new generation of \gls{vr} headsets has higher resolution and a wider field of view. While \gls{vr} are often considered entertainment devices, \gls{vr} brings more than that. It plays an important role in many fields such as entertainment, training, education and medical care.
+
+The use of \gls{vr} in \gls{hrc} also has the potential. In terms of reliability, \gls{vr} is reliable as a novel alternative to \gls{hri}. The interaction tasks that users can accomplish with \gls{vr} do not differ significantly from those using real operating systems\cite{Villani:2018ub}. In terms of user experience and operational efficiency, \gls{vr} headsets can provide users with stereo viewing cues, which makes collaborative \gls{hri} tasks in certain situations more efficient and performance better \cite{Liu:2017tw}. A novel \gls{vr}-based practical system for immersive robot teleoperation and scene exploration can improve the degree of immersion and situation awareness for the precise navigation of the robot as well as the interactive measurement of objects within the scene. In contrast, this level of immersion and interaction cannot be reached with video-only systems \cite{Stotko:2019ud}.
+
+However, there remains a need to explore \gls{hri} patterns and improve the level of \gls{hrintergration}\cite{Wang:2017uy}. Intuitive and easy-to-use interactive patterns can enable the user to explore the environment as intentionally as possible and improve the efficiency of search and rescue. The appropriate interaction method should cause less mental and physical exhaustion, which also extends the length of an operation, making it less necessary for the user to frequently exit the \gls{vr} environment for rest.
+
+% What I have done (overview)
+For this purpose, this paper presents a preliminary \gls{vr}-based system that simulates the cooperation between ground rescue robots and humans with four different operation modes and corresponding test scenes, which imitate a post-disaster city. The test scene simulates a robot collaborating with Unity to construct a virtual 3D scene. The robot has a simulated \gls{lidar} remote sensor, which makes the display of the scene dependent on the robot's movement. In order to find an interactive approach that is as intuitive and low mental fatigue as possible, a user study was executed after the development was completed.
+
+
+% Paper Architecture
+In Chapter \ref{related}, related work involving the integration of \gls{vr} and \gls{hri} is presented.
+Chapter \ref{implementation} provides details of the proposed system, including the techniques used for the different interaction modes and the setup for test scenes.
+Chapter \ref{evaluate} explains the design and procedure of user study.
+Chapter \ref{result} presents the results of the user study and analyzes the advantages and disadvantages of the different operation modes and the directions for improvement.
+Finally, in Chapter \ref{conclusion}, conclusions and future work are summarized.
+
+

Concepts for operating ground based rescue robots using virtual reality/chapters/related_work.tex

@@ -0,0 +1,15 @@
+\chapter{Related Work}
+\label{related}
+
+In this chapter, some research on the integration of \gls{vr} and \gls{hri} will be discussed. The relevant literature and its contributions will be briefly presented. 
+
+The topic of \gls{vr} and \gls{hri} is an open research topic with many kinds of focus perspectives.
+
+\gls{hri} platforms combined with virtual worlds have several application scenarios. It can be used, for example, to train operators. Elias Matsas et al. \cite{Matsas:2017aa} provided a \gls{vr}-based training system using hand recognition. Kinect cameras are used to capture the user's positions and motions, and virtual user models are constructed in the \gls{vr} environment based on the collected data. Users will operate robots and virtual objects in the \gls{vr} environment, and in this way, learn how to operate the real robot. The framework proposed by Luis Pérez et al. \cite{Perez:2019ub} is applied to train operators to learn to control the robot. Since the environment does not need to change in real time, but rather needs to recreate the factory scene realistically, a highly accurate 3D environment was constructed in advance using Blender after being captured with a 3D scanner.
+
+Building 3D scenes in virtual worlds based on information collected by robots is also a research highlight. Wang, et al. \cite{Wang:2017uy} were concerned with the visualization of the rescue robot and its surroundings in a virtual environment. The proposed \gls{hri} system uses incremental 3D-NDT map to render the robot's surroundings in real time. The user can view the robot's surroundings in a first-person view through the \gls{htc} and send control commands through arrow keys on the motion controllers. A novel \gls{vr}-based practical system is presented in \cite{Stotko:2019ud} consisting of distributed systems to reconstruct the 3D scene. The data collected by the robot is first transmitted to the client responsible for reconstructing the scene. After the client has constructed the 3D scene, the set of actively reconstructed visible voxel blocks is sent to the server responsible for communication, which has a robot-based live telepresence and teleoperation system. This server will then broadcast the data back to the client used by the operator, thus enabling an immersive visualization of the robot within the scene.
+
+Others are more concerned about the manipulation of the robotic arm mounted on the robot. Moniri et al. \cite{Moniri:2016ud} provided a \gls{vr}-based operating model for the robotic arm. The user wearing a headset can see a simulated 3D scene at the robot's end and send pickup commands to the remote robot by clicking on the target object with the mouse. The system proposed by Ostanin et al. \cite{Ostanin:2020uo} is also worth mentioning. Although their proposed system for operating a robotic arm is based on \gls{mr}, the article is highly relevant to this paper, considering the correlation of \gls{mr} and \gls{vr} and the proposed system detailing the combination of \gls{ros} and robotics. In their system, the \gls{rosk} was used as middleware and was responsible for communicating with the robot and the \gls{unity} side. The user can control the movement of the robot arm by selecting predefined options in the menu. In addition, the orbit and target points of the robot arm can be set by clicking on a hologram with a series of control points.
+
+%Summary
+To summarize, a large number of authors have studied methods and tools for \gls{vr}-based \gls{hri} and teleoperation. However, very few studies focus on the different interactive approaches for \gls{hri}.

Thesis_LaTeX/chapters/result.tex → Concepts for operating ground based rescue robots using virtual reality/chapters/result.tex

@@ -1,4 +1,4 @@
-\chapter{Results and discussion}
-\label{result}
-
+\chapter{Results and discussion}
+\label{result}
+
 \gls{vr}

Thesis.md

@@ -296,13 +296,6 @@ After all the tests were completed, participants were asked to compare the four
 
 # Results and discussion
 
-> ##### results and discussion
->
-> - Difficulty of learning how to operate
-> - Efficiency of operating robots (time)
-> - Number of robot collisions (collision)
-> - [Table: Test results]
-
 
 
 ##### Participants

Thesis_LaTeX/Thesis_Jingyi.aux

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-      \field{abstract}{A crucial skill for fluent action meshing in human team activity is a learned and calculated selection of anticipatory actions. We believe that the same holds for robotic teammates, if they are to perform in a similarly fluent manner with their human counterparts.In this work, we propose an adaptive action selection mechanism for a robotic teammate, making anticipatory decisions based on the confidence of their validity and their relative risk. We predict an improvement in task efficiency and fluency compared to a purely reactive process.We then present results from a study involving untrained human subjects working with a simulated version of a robot using our system. We show a significant improvement in best-case task efficiency when compared to a group of users working with a reactive agent, as well as a significant difference in the perceived commitment of the robot to the team and its contribution to the team's uency and success. By way of explanation, we propose a number of fluency metrics that differ significantly between the two study groups.}
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-      \field{title}{Human-swarm interaction using spatial gestures}
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-      \field{booktitle}{2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}
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-      \field{journaltitle}{2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}
-      \field{title}{``You two! Take off!'': Creating, modifying and commanding groups of robots using face engagement and indirect speech in voice commands}
-      \field{year}{2013}
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-      \field{booktitle}{IEEE Transactions on Biomedical Engineering}
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-      \field{journaltitle}{IEEE Transactions on Biomedical Engineering}
-      \field{number}{3}
-      \field{title}{A Novel EOG/EEG Hybrid Human--Machine Interface Adopting Eye Movements and ERPs: Application to Robot Control}
-      \field{volume}{62}
-      \field{year}{2015}
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-      \field{abstract}{The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human--machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.}
-      \field{issn}{0920-3796}
-      \field{journaltitle}{Fusion Engineering and Design}
-      \field{note}{Proceedings of the 28th Symposium On Fusion Technology (SOFT-28)}
-      \field{title}{A Multi-purpose Rescue Vehicle and a human--robot interface architecture for remote assistance in ITER}
-      \field{volume}{98-99}
-      \field{year}{2015}
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-      \keyw{ITER,Remote handling,Rescue and recovery,Maintenance,Interface}
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-      \field{booktitle}{2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)}
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-      \field{journaltitle}{2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)}
-      \field{title}{Use of Virtual Reality for the Evaluation of Human-Robot Interaction Systems in Complex Scenarios}
-      \field{year}{2018}
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-      \field{title}{Understanding human-robot interaction in virtual reality}
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-      \field{title}{A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot}
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-      \field{booktitle}{2017 Chinese Automation Congress (CAC)}
-      \field{journaltitle}{2017 Chinese Automation Congress (CAC)}
-      \field{title}{A novel human-robot interaction system based on 3D mapping and virtual reality}
-      \field{year}{2017}
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-      \field{abstract}{This paper presents a highly interactive and immersive Virtual Reality Training System (VRTS) (``beWare of the Robot'') in terms of a serious game that simulates in real-time the cooperation between industrial robotic manipulators and humans, executing simple manufacturing tasks. The scenario presented refers to collaborative handling in tape-laying for building aerospace composite parts. The tools, models and techniques developed and used to build the ``beWare of the Robot''application are described. System setup and configuration are presented in detail, as well as user tracking and navigation issues. Special emphasis is given to the interaction techniques used to facilitate implementation of virtual human--robot (HR) collaboration. Safety issues, such as contacts and collisions are mainly tackled through ``emergencies'', i.e. warning signals in terms of visual stimuli and sound alarms. Mental safety is of utmost priority and the user is provided augmented situational awareness and enhanced perception of the robot's motion due to immersion and real-time interaction offered by the VRTS as well as by special warning stimuli. The short-term goal of the research was to investigate users'enhanced experience and behaviour inside the virtual world while cooperating with the robot and positive pertinent preliminary findings are presented and briefly discussed. In the longer term, the system can be used to investigate acceptability of H--R collaboration and, ultimately, serve as a platform for programming collaborative H--R manufacturing cells.}
-      \field{isbn}{1955-2505}
-      \field{journaltitle}{International Journal on Interactive Design and Manufacturing (IJIDeM)}
-      \field{number}{2}
-      \field{title}{Design of a virtual reality training system for human--robot collaboration in manufacturing tasks}
-      \field{volume}{11}
-      \field{year}{2017}
-      \field{pages}{139\bibrangedash 153}
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-    \entry{Perez:2019ub}{article}{}
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-      \field{abstract}{Nowadays, we are involved in the fourth industrial revolution, commonly referred to as ``Industry 4.0,''where cyber-physical systems and intelligent automation, including robotics, are the keys. Traditionally, the use of robots has been limited by safety and, in addition, some manufacturing tasks are too complex to be fully automated. Thus, human-robot collaborative applications, where robots are not isolated, are necessary in order to increase the productivity ensuring the safety of the operators with new perception systems for the robot and new interaction interfaces for the human. Moreover, virtual reality has been extended to the industry in the last years, but most of its applications are not related to robots. In this context, this paper works on the synergies between virtual reality and robotics, presenting the use of commercial gaming technologies to create a totally immersive environment based on virtual reality. This environment includes an interface connected to the robot controller, where the necessary mathematical models have been implemented for the control of the virtual robot. The proposed system can be used for training, simulation, and what is more innovative, for robot controlling in an integrated, non-expensive and unique application. Results show that the immersive experience increments the efficiency of the training and simulation processes, offering a cost-effective solution.}
-      \field{isbn}{0166-3615}
-      \field{journaltitle}{Computers in Industry}
-      \field{title}{Industrial robot control and operator training using virtual reality interfaces}
-      \field{volume}{109}
-      \field{year}{2019}
-      \field{pages}{114\bibrangedash 120}
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-      \keyw{Robots; Virtual reality; Human-machine interface; Virtual manufacturing; Industry 4.0}
-    \endentry
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-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>nosortothers</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>singletitle</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>skipbib</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>skiplab</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>skipbiblist</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>uniquelist</bcf:key>
-      <bcf:value>false</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>uniquename</bcf:key>
-      <bcf:value>false</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>uniqueprimaryauthor</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>uniquetitle</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>uniquebaretitle</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>uniquework</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useprefix</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useafterword</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useannotator</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useauthor</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>usebookauthor</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>usecommentator</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useeditor</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useeditora</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useeditorb</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useeditorc</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useforeword</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useholder</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useintroduction</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>usenamea</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>usenameb</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>usenamec</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>usetranslator</bcf:key>
-      <bcf:value>0</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useshortauthor</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-    <bcf:option type="singlevalued">
-      <bcf:key>useshorteditor</bcf:key>
-      <bcf:value>1</bcf:value>
-    </bcf:option>
-  </bcf:options>
-  <!-- BIBLATEX OPTION SCOPE -->
-  <bcf:optionscope type="GLOBAL">
-    <bcf:option datatype="xml">datamodel</bcf:option>
-    <bcf:option datatype="xml">labelalphanametemplate</bcf:option>
-    <bcf:option datatype="xml">labelalphatemplate</bcf:option>
-    <bcf:option datatype="xml">inheritance</bcf:option>
-    <bcf:option datatype="xml">translit</bcf:option>
-    <bcf:option datatype="xml">uniquenametemplate</bcf:option>
-    <bcf:option datatype="xml">sortingnamekeytemplate</bcf:option>
-    <bcf:option datatype="xml">sortingtemplate</bcf:option>
-    <bcf:option datatype="xml">extradatespec</bcf:option>
-    <bcf:option datatype="xml">labelnamespec</bcf:option>
-    <bcf:option datatype="xml">labeltitlespec</bcf:option>
-    <bcf:option datatype="xml">labeldatespec</bcf:option>
-    <bcf:option datatype="string">controlversion</bcf:option>
-    <bcf:option datatype="string">alphaothers</bcf:option>
-    <bcf:option datatype="string">sortalphaothers</bcf:option>
-    <bcf:option datatype="string">presort</bcf:option>
-    <bcf:option datatype="string">texencoding</bcf:option>
-    <bcf:option datatype="string">bibencoding</bcf:option>
-    <bcf:option datatype="string">sortingtemplatename</bcf:option>
-    <bcf:option datatype="string">sortlocale</bcf:option>
-    <bcf:option datatype="string">language</bcf:option>
-    <bcf:option datatype="string">autolang</bcf:option>
-    <bcf:option datatype="string">langhook</bcf:option>
-    <bcf:option datatype="string">indexing</bcf:option>
-    <bcf:option datatype="string">hyperref</bcf:option>
-    <bcf:option datatype="string">backrefsetstyle</bcf:option>
-    <bcf:option datatype="string">block</bcf:option>
-    <bcf:option datatype="string">pagetracker</bcf:option>
-    <bcf:option datatype="string">citecounter</bcf:option>
-    <bcf:option datatype="string">citetracker</bcf:option>
-    <bcf:option datatype="string">ibidtracker</bcf:option>
-    <bcf:option datatype="string">idemtracker</bcf:option>
-    <bcf:option datatype="string">opcittracker</bcf:option>
-    <bcf:option datatype="string">loccittracker</bcf:option>
-    <bcf:option datatype="string">labeldate</bcf:option>
-    <bcf:option datatype="string">labeltime</bcf:option>
-    <bcf:option datatype="string">dateera</bcf:option>
-    <bcf:option datatype="string">date</bcf:option>
-    <bcf:option datatype="string">time</bcf:option>
-    <bcf:option datatype="string">eventdate</bcf:option>
-    <bcf:option datatype="string">eventtime</bcf:option>
-    <bcf:option datatype="string">origdate</bcf:option>
-    <bcf:option datatype="string">origtime</bcf:option>
-    <bcf:option datatype="string">urldate</bcf:option>
-    <bcf:option datatype="string">urltime</bcf:option>
-    <bcf:option datatype="string">alldatesusetime</bcf:option>
-    <bcf:option datatype="string">alldates</bcf:option>
-    <bcf:option datatype="string">alltimes</bcf:option>
-    <bcf:option datatype="string">gregorianstart</bcf:option>
-    <bcf:option datatype="string">autocite</bcf:option>
-    <bcf:option datatype="string">notetype</bcf:option>
-    <bcf:option datatype="string">uniquelist</bcf:option>
-    <bcf:option datatype="string">uniquename</bcf:option>
-    <bcf:option datatype="string">refsection</bcf:option>
-    <bcf:option datatype="string">refsegment</bcf:option>
-    <bcf:option datatype="string">citereset</bcf:option>
-    <bcf:option datatype="string">sortlos</bcf:option>
-    <bcf:option datatype="string">babel</bcf:option>
-    <bcf:option datatype="string">datelabel</bcf:option>
-    <bcf:option datatype="string">backrefstyle</bcf:option>
-    <bcf:option datatype="string">arxiv</bcf:option>
-    <bcf:option datatype="boolean">familyinits</bcf:option>
-    <bcf:option datatype="boolean">giveninits</bcf:option>
-    <bcf:option datatype="boolean">prefixinits</bcf:option>
-    <bcf:option datatype="boolean">suffixinits</bcf:option>
-    <bcf:option datatype="boolean">useafterword</bcf:option>
-    <bcf:option datatype="boolean">useannotator</bcf:option>
-    <bcf:option datatype="boolean">useauthor</bcf:option>
-    <bcf:option datatype="boolean">usebookauthor</bcf:option>
-    <bcf:option datatype="boolean">usecommentator</bcf:option>
-    <bcf:option datatype="boolean">useeditor</bcf:option>
-    <bcf:option datatype="boolean">useeditora</bcf:option>
-    <bcf:option datatype="boolean">useeditorb</bcf:option>
-    <bcf:option datatype="boolean">useeditorc</bcf:option>
-    <bcf:option datatype="boolean">useforeword</bcf:option>
-    <bcf:option datatype="boolean">useholder</bcf:option>
-    <bcf:option datatype="boolean">useintroduction</bcf:option>
-    <bcf:option datatype="boolean">usenamea</bcf:option>
-    <bcf:option datatype="boolean">usenameb</bcf:option>
-    <bcf:option datatype="boolean">usenamec</bcf:option>
-    <bcf:option datatype="boolean">usetranslator</bcf:option>
-    <bcf:option datatype="boolean">useshortauthor</bcf:option>
-    <bcf:option datatype="boolean">useshorteditor</bcf:option>
-    <bcf:option datatype="boolean">debug</bcf:option>
-    <bcf:option datatype="boolean">loadfiles</bcf:option>
-    <bcf:option datatype="boolean">safeinputenc</bcf:option>
-    <bcf:option datatype="boolean">sortcase</bcf:option>
-    <bcf:option datatype="boolean">sortupper</bcf:option>
-    <bcf:option datatype="boolean">terseinits</bcf:option>
-    <bcf:option datatype="boolean">abbreviate</bcf:option>
-    <bcf:option datatype="boolean">dateabbrev</bcf:option>
-    <bcf:option datatype="boolean">clearlang</bcf:option>
-    <bcf:option datatype="boolean">sortcites</bcf:option>
-    <bcf:option datatype="boolean">sortsets</bcf:option>
-    <bcf:option datatype="boolean">backref</bcf:option>
-    <bcf:option datatype="boolean">backreffloats</bcf:option>
-    <bcf:option datatype="boolean">trackfloats</bcf:option>
-    <bcf:option datatype="boolean">parentracker</bcf:option>
-    <bcf:option datatype="boolean">labeldateusetime</bcf:option>
-    <bcf:option datatype="boolean">datecirca</bcf:option>
-    <bcf:option datatype="boolean">dateuncertain</bcf:option>
-    <bcf:option datatype="boolean">dateusetime</bcf:option>
-    <bcf:option datatype="boolean">eventdateusetime</bcf:option>
-    <bcf:option datatype="boolean">origdateusetime</bcf:option>
-    <bcf:option datatype="boolean">urldateusetime</bcf:option>
-    <bcf:option datatype="boolean">julian</bcf:option>
-    <bcf:option datatype="boolean">datezeros</bcf:option>
-    <bcf:option datatype="boolean">timezeros</bcf:option>
-    <bcf:option datatype="boolean">timezones</bcf:option>
-    <bcf:option datatype="boolean">seconds</bcf:option>
-    <bcf:option datatype="boolean">autopunct</bcf:option>
-    <bcf:option datatype="boolean">punctfont</bcf:option>
-    <bcf:option datatype="boolean">labelnumber</bcf:option>
-    <bcf:option datatype="boolean">labelalpha</bcf:option>
-    <bcf:option datatype="boolean">labeltitle</bcf:option>
-    <bcf:option datatype="boolean">labeltitleyear</bcf:option>
-    <bcf:option datatype="boolean">labeldateparts</bcf:option>
-    <bcf:option datatype="boolean">nohashothers</bcf:option>
-    <bcf:option datatype="boolean">nosortothers</bcf:option>
-    <bcf:option datatype="boolean">noroman</bcf:option>
-    <bcf:option datatype="boolean">singletitle</bcf:option>
-    <bcf:option datatype="boolean">uniquetitle</bcf:option>
-    <bcf:option datatype="boolean">uniquebaretitle</bcf:option>
-    <bcf:option datatype="boolean">uniquework</bcf:option>
-    <bcf:option datatype="boolean">uniqueprimaryauthor</bcf:option>
-    <bcf:option datatype="boolean">defernumbers</bcf:option>
-    <bcf:option datatype="boolean">locallabelwidth</bcf:option>
-    <bcf:option datatype="boolean">bibwarn</bcf:option>
-    <bcf:option datatype="boolean">useprefix</bcf:option>
-    <bcf:option datatype="boolean">skipbib</bcf:option>
-    <bcf:option datatype="boolean">skipbiblist</bcf:option>
-    <bcf:option datatype="boolean">skiplab</bcf:option>
-    <bcf:option datatype="boolean">dataonly</bcf:option>
-    <bcf:option datatype="boolean">defernums</bcf:option>
-    <bcf:option datatype="boolean">firstinits</bcf:option>
-    <bcf:option datatype="boolean">sortfirstinits</bcf:option>
-    <bcf:option datatype="boolean">sortgiveninits</bcf:option>
-    <bcf:option datatype="boolean">labelyear</bcf:option>
-    <bcf:option datatype="boolean">isbn</bcf:option>
-    <bcf:option datatype="boolean">url</bcf:option>
-    <bcf:option datatype="boolean">doi</bcf:option>
-    <bcf:option datatype="boolean">eprint</bcf:option>
-    <bcf:option datatype="boolean">related</bcf:option>
-    <bcf:option datatype="boolean">subentry</bcf:option>
-    <bcf:option datatype="boolean">bibtexcaseprotection</bcf:option>
-    <bcf:option datatype="integer">mincrossrefs</bcf:option>
-    <bcf:option datatype="integer">minxrefs</bcf:option>
-    <bcf:option datatype="integer">maxnames</bcf:option>
-    <bcf:option datatype="integer">minnames</bcf:option>
-    <bcf:option datatype="integer">maxbibnames</bcf:option>
-    <bcf:option datatype="integer">minbibnames</bcf:option>
-    <bcf:option datatype="integer">maxcitenames</bcf:option>
-    <bcf:option datatype="integer">mincitenames</bcf:option>
-    <bcf:option datatype="integer">maxsortnames</bcf:option>
-    <bcf:option datatype="integer">minsortnames</bcf:option>
-    <bcf:option datatype="integer">maxitems</bcf:option>
-    <bcf:option datatype="integer">minitems</bcf:option>
-    <bcf:option datatype="integer">maxalphanames</bcf:option>
-    <bcf:option datatype="integer">minalphanames</bcf:option>
-    <bcf:option datatype="integer">maxparens</bcf:option>
-    <bcf:option datatype="integer">dateeraauto</bcf:option>
-  </bcf:optionscope>
-  <bcf:optionscope type="ENTRYTYPE">
-    <bcf:option datatype="string">alphaothers</bcf:option>
-    <bcf:option datatype="string">sortalphaothers</bcf:option>
-    <bcf:option datatype="string">presort</bcf:option>
-    <bcf:option datatype="string">indexing</bcf:option>
-    <bcf:option datatype="string">citetracker</bcf:option>
-    <bcf:option datatype="string">ibidtracker</bcf:option>
-    <bcf:option datatype="string">idemtracker</bcf:option>
-    <bcf:option datatype="string">opcittracker</bcf:option>
-    <bcf:option datatype="string">loccittracker</bcf:option>
-    <bcf:option datatype="string">uniquelist</bcf:option>
-    <bcf:option datatype="string">uniquename</bcf:option>
-    <bcf:option datatype="boolean">familyinits</bcf:option>
-    <bcf:option datatype="boolean">giveninits</bcf:option>
-    <bcf:option datatype="boolean">prefixinits</bcf:option>
-    <bcf:option datatype="boolean">suffixinits</bcf:option>
-    <bcf:option datatype="boolean">useafterword</bcf:option>
-    <bcf:option datatype="boolean">useannotator</bcf:option>
-    <bcf:option datatype="boolean">useauthor</bcf:option>
-    <bcf:option datatype="boolean">usebookauthor</bcf:option>
-    <bcf:option datatype="boolean">usecommentator</bcf:option>
-    <bcf:option datatype="boolean">useeditor</bcf:option>
-    <bcf:option datatype="boolean">useeditora</bcf:option>
-    <bcf:option datatype="boolean">useeditorb</bcf:option>
-    <bcf:option datatype="boolean">useeditorc</bcf:option>
-    <bcf:option datatype="boolean">useforeword</bcf:option>
-    <bcf:option datatype="boolean">useholder</bcf:option>
-    <bcf:option datatype="boolean">useintroduction</bcf:option>
-    <bcf:option datatype="boolean">usenamea</bcf:option>
-    <bcf:option datatype="boolean">usenameb</bcf:option>
-    <bcf:option datatype="boolean">usenamec</bcf:option>
-    <bcf:option datatype="boolean">usetranslator</bcf:option>
-    <bcf:option datatype="boolean">useshortauthor</bcf:option>
-    <bcf:option datatype="boolean">useshorteditor</bcf:option>
-    <bcf:option datatype="boolean">terseinits</bcf:option>
-    <bcf:option datatype="boolean">abbreviate</bcf:option>
-    <bcf:option datatype="boolean">dateabbrev</bcf:option>
-    <bcf:option datatype="boolean">clearlang</bcf:option>
-    <bcf:option datatype="boolean">labelnumber</bcf:option>
-    <bcf:option datatype="boolean">labelalpha</bcf:option>
-    <bcf:option datatype="boolean">labeltitle</bcf:option>
-    <bcf:option datatype="boolean">labeltitleyear</bcf:option>
-    <bcf:option datatype="boolean">labeldateparts</bcf:option>
-    <bcf:option datatype="boolean">nohashothers</bcf:option>
-    <bcf:option datatype="boolean">nosortothers</bcf:option>
-    <bcf:option datatype="boolean">noroman</bcf:option>
-    <bcf:option datatype="boolean">singletitle</bcf:option>
-    <bcf:option datatype="boolean">uniquetitle</bcf:option>
-    <bcf:option datatype="boolean">uniquebaretitle</bcf:option>
-    <bcf:option datatype="boolean">uniquework</bcf:option>
-    <bcf:option datatype="boolean">uniqueprimaryauthor</bcf:option>
-    <bcf:option datatype="boolean">useprefix</bcf:option>
-    <bcf:option datatype="boolean">skipbib</bcf:option>
-    <bcf:option datatype="boolean">skipbiblist</bcf:option>
-    <bcf:option datatype="boolean">skiplab</bcf:option>
-    <bcf:option datatype="boolean">dataonly</bcf:option>
-    <bcf:option datatype="boolean">skiplos</bcf:option>
-    <bcf:option datatype="boolean">labelyear</bcf:option>
-    <bcf:option datatype="boolean">isbn</bcf:option>
-    <bcf:option datatype="boolean">url</bcf:option>
-    <bcf:option datatype="boolean">doi</bcf:option>
-    <bcf:option datatype="boolean">eprint</bcf:option>
-    <bcf:option datatype="boolean">related</bcf:option>
-    <bcf:option datatype="boolean">subentry</bcf:option>
-    <bcf:option datatype="boolean">bibtexcaseprotection</bcf:option>
-    <bcf:option datatype="xml">labelalphatemplate</bcf:option>
-    <bcf:option datatype="xml">translit</bcf:option>
-    <bcf:option datatype="xml">sortexclusion</bcf:option>
-    <bcf:option datatype="xml">sortinclusion</bcf:option>
-    <bcf:option datatype="xml">labelnamespec</bcf:option>
-    <bcf:option datatype="xml">labeltitlespec</bcf:option>
-    <bcf:option datatype="xml">labeldatespec</bcf:option>
-    <bcf:option datatype="integer">maxnames</bcf:option>
-    <bcf:option datatype="integer">minnames</bcf:option>
-    <bcf:option datatype="integer">maxbibnames</bcf:option>
-    <bcf:option datatype="integer">minbibnames</bcf:option>
-    <bcf:option datatype="integer">maxcitenames</bcf:option>
-    <bcf:option datatype="integer">mincitenames</bcf:option>
-    <bcf:option datatype="integer">maxsortnames</bcf:option>
-    <bcf:option datatype="integer">minsortnames</bcf:option>
-    <bcf:option datatype="integer">maxitems</bcf:option>
-    <bcf:option datatype="integer">minitems</bcf:option>
-    <bcf:option datatype="integer">maxalphanames</bcf:option>
-    <bcf:option datatype="integer">minalphanames</bcf:option>
-  </bcf:optionscope>
-  <bcf:optionscope type="ENTRY">
-    <bcf:option datatype="string">noinherit</bcf:option>
-    <bcf:option datatype="string" backendin="sortingnamekeytemplatename,uniquenametemplatename,labelalphanametemplatename">nametemplates</bcf:option>
-    <bcf:option datatype="string" backendout="1">labelalphanametemplatename</bcf:option>
-    <bcf:option datatype="string" backendout="1">uniquenametemplatename</bcf:option>
-    <bcf:option datatype="string" backendout="1">sortingnamekeytemplatename</bcf:option>
-    <bcf:option datatype="string">presort</bcf:option>
-    <bcf:option datatype="string" backendout="1">indexing</bcf:option>
-    <bcf:option datatype="string" backendout="1">citetracker</bcf:option>
-    <bcf:option datatype="string" backendout="1">ibidtracker</bcf:option>
-    <bcf:option datatype="string" backendout="1">idemtracker</bcf:option>
-    <bcf:option datatype="string" backendout="1">opcittracker</bcf:option>
-    <bcf:option datatype="string" backendout="1">loccittracker</bcf:option>
-    <bcf:option datatype="string">uniquelist</bcf:option>
-    <bcf:option datatype="string">uniquename</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">familyinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">giveninits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">prefixinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">suffixinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useafterword</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useannotator</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useauthor</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">usebookauthor</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">usecommentator</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useeditor</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useeditora</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useeditorb</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useeditorc</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useforeword</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useholder</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useintroduction</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">usenamea</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">usenameb</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">usenamec</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">usetranslator</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useshortauthor</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useshorteditor</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">terseinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">abbreviate</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">dateabbrev</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">clearlang</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">labelnumber</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">labelalpha</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">labeltitle</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">labeltitleyear</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">labeldateparts</bcf:option>
-    <bcf:option datatype="boolean">nohashothers</bcf:option>
-    <bcf:option datatype="boolean">nosortothers</bcf:option>
-    <bcf:option datatype="boolean">noroman</bcf:option>
-    <bcf:option datatype="boolean">singletitle</bcf:option>
-    <bcf:option datatype="boolean">uniquetitle</bcf:option>
-    <bcf:option datatype="boolean">uniquebaretitle</bcf:option>
-    <bcf:option datatype="boolean">uniquework</bcf:option>
-    <bcf:option datatype="boolean">uniqueprimaryauthor</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useprefix</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">skipbib</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">skipbiblist</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">skiplab</bcf:option>
-    <bcf:option datatype="boolean" backendin="uniquename=false,uniquelist=false,skipbib=true,skipbiblist=true,skiplab=true">dataonly</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">skiplos</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">isbn</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">url</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">doi</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">eprint</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">related</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">subentry</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">bibtexcaseprotection</bcf:option>
-    <bcf:option datatype="integer" backendin="maxcitenames,maxbibnames,maxsortnames">maxnames</bcf:option>
-    <bcf:option datatype="integer" backendin="mincitenames,minbibnames,minsortnames">minnames</bcf:option>
-    <bcf:option datatype="integer" backendout="1">maxbibnames</bcf:option>
-    <bcf:option datatype="integer" backendout="1">minbibnames</bcf:option>
-    <bcf:option datatype="integer" backendout="1">maxcitenames</bcf:option>
-    <bcf:option datatype="integer" backendout="1">mincitenames</bcf:option>
-    <bcf:option datatype="integer" backendout="1">maxsortnames</bcf:option>
-    <bcf:option datatype="integer" backendout="1">minsortnames</bcf:option>
-    <bcf:option datatype="integer" backendout="1">maxitems</bcf:option>
-    <bcf:option datatype="integer" backendout="1">minitems</bcf:option>
-    <bcf:option datatype="integer" backendout="1">maxalphanames</bcf:option>
-    <bcf:option datatype="integer" backendout="1">minalphanames</bcf:option>
-  </bcf:optionscope>
-  <bcf:optionscope type="NAMELIST">
-    <bcf:option datatype="string" backendin="sortingnamekeytemplatename,uniquenametemplatename,labelalphanametemplatename">nametemplates</bcf:option>
-    <bcf:option datatype="string" backendout="1">labelalphanametemplatename</bcf:option>
-    <bcf:option datatype="string" backendout="1">uniquenametemplatename</bcf:option>
-    <bcf:option datatype="string" backendout="1">sortingnamekeytemplatename</bcf:option>
-    <bcf:option datatype="string">uniquelist</bcf:option>
-    <bcf:option datatype="string">uniquename</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">familyinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">giveninits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">prefixinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">suffixinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">terseinits</bcf:option>
-    <bcf:option datatype="boolean">nohashothers</bcf:option>
-    <bcf:option datatype="boolean">nosortothers</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useprefix</bcf:option>
-  </bcf:optionscope>
-  <bcf:optionscope type="NAME">
-    <bcf:option datatype="string" backendin="sortingnamekeytemplatename,uniquenametemplatename,labelalphanametemplatename">nametemplates</bcf:option>
-    <bcf:option datatype="string" backendout="1">labelalphanametemplatename</bcf:option>
-    <bcf:option datatype="string" backendout="1">uniquenametemplatename</bcf:option>
-    <bcf:option datatype="string" backendout="1">sortingnamekeytemplatename</bcf:option>
-    <bcf:option datatype="string">uniquename</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">familyinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">giveninits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">prefixinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">suffixinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">terseinits</bcf:option>
-    <bcf:option datatype="boolean" backendout="1">useprefix</bcf:option>
-  </bcf:optionscope>
-  <!-- DATAFIELDSETS -->
-  <bcf:datafieldset name="setnames">
-    <bcf:member datatype="name" fieldtype="list"/>
-  </bcf:datafieldset>
-  <bcf:datafieldset name="settitles">
-    <bcf:member field="title"/>
-    <bcf:member field="booktitle"/>
-    <bcf:member field="eventtitle"/>
-    <bcf:member field="issuetitle"/>
-    <bcf:member field="journaltitle"/>
-    <bcf:member field="maintitle"/>
-    <bcf:member field="origtitle"/>
-  </bcf:datafieldset>
-  <!-- SOURCEMAP -->
-  <bcf:sourcemap>
-    <bcf:maps datatype="bibtex" level="driver">
-      <bcf:map>
-        <bcf:map_step map_field_set="day" map_null="1"/>
-      </bcf:map>
-      <bcf:map>
-        <bcf:map_step map_type_source="conference" map_type_target="inproceedings"/>
-        <bcf:map_step map_type_source="electronic" map_type_target="online"/>
-        <bcf:map_step map_type_source="www" map_type_target="online"/>
-      </bcf:map>
-      <bcf:map>
-        <bcf:map_step map_type_source="mastersthesis" map_type_target="thesis" map_final="1"/>
-        <bcf:map_step map_field_set="type" map_field_value="mathesis"/>
-      </bcf:map>
-      <bcf:map>
-        <bcf:map_step map_type_source="phdthesis" map_type_target="thesis" map_final="1"/>
-        <bcf:map_step map_field_set="type" map_field_value="phdthesis"/>
-      </bcf:map>
-      <bcf:map>
-        <bcf:map_step map_type_source="techreport" map_type_target="report" map_final="1"/>
-        <bcf:map_step map_field_set="type" map_field_value="techreport"/>
-      </bcf:map>
-      <bcf:map>
-        <bcf:map_step map_field_source="hyphenation" map_field_target="langid"/>
-        <bcf:map_step map_field_source="address" map_field_target="location"/>
-        <bcf:map_step map_field_source="school" map_field_target="institution"/>
-        <bcf:map_step map_field_source="annote" map_field_target="annotation"/>
-        <bcf:map_step map_field_source="archiveprefix" map_field_target="eprinttype"/>
-        <bcf:map_step map_field_source="journal" map_field_target="journaltitle"/>
-        <bcf:map_step map_field_source="primaryclass" map_field_target="eprintclass"/>
-        <bcf:map_step map_field_source="key" map_field_target="sortkey"/>
-        <bcf:map_step map_field_source="pdf" map_field_target="file"/>
-      </bcf:map>
-    </bcf:maps>
-  </bcf:sourcemap>
-  <!-- LABELALPHA NAME TEMPLATE -->
-  <bcf:labelalphanametemplate name="global">
-    <bcf:namepart order="1" use="1" pre="1" substring_width="1" substring_compound="1">prefix</bcf:namepart>
-    <bcf:namepart order="2">family</bcf:namepart>
-  </bcf:labelalphanametemplate>
-  <!-- LABELALPHA TEMPLATE -->
-  <bcf:labelalphatemplate type="global">
-    <bcf:labelelement order="1">
-      <bcf:labelpart final="1">shorthand</bcf:labelpart>
-      <bcf:labelpart>label</bcf:labelpart>
-      <bcf:labelpart substring_width="3" substring_side="left" ifnames="1">labelname</bcf:labelpart>
-      <bcf:labelpart substring_width="1" substring_side="left">labelname</bcf:labelpart>
-    </bcf:labelelement>
-    <bcf:labelelement order="2">
-      <bcf:labelpart substring_width="2" substring_side="right">year</bcf:labelpart>
-    </bcf:labelelement>
-  </bcf:labelalphatemplate>
-  <!-- EXTRADATE -->
-  <bcf:extradatespec>
-    <bcf:scope>
-      <bcf:field order="1">labelyear</bcf:field>
-      <bcf:field order="2">year</bcf:field>
-    </bcf:scope>
-  </bcf:extradatespec>
-  <!-- INHERITANCE -->
-  <bcf:inheritance>
-    <bcf:defaults inherit_all="true" override_target="false">
-    </bcf:defaults>
-    <bcf:inherit>
-      <bcf:type_pair source="mvbook" target="inbook"/>
-      <bcf:type_pair source="mvbook" target="bookinbook"/>
-      <bcf:type_pair source="mvbook" target="suppbook"/>
-      <bcf:type_pair source="book" target="inbook"/>
-      <bcf:type_pair source="book" target="bookinbook"/>
-      <bcf:type_pair source="book" target="suppbook"/>
-      <bcf:field source="author" target="author"/>
-      <bcf:field source="author" target="bookauthor"/>
-    </bcf:inherit>
-    <bcf:inherit>
-      <bcf:type_pair source="mvbook" target="book"/>
-      <bcf:type_pair source="mvbook" target="inbook"/>
-      <bcf:type_pair source="mvbook" target="bookinbook"/>
-      <bcf:type_pair source="mvbook" target="suppbook"/>
-      <bcf:field source="title" target="maintitle"/>
-      <bcf:field source="subtitle" target="mainsubtitle"/>
-      <bcf:field source="titleaddon" target="maintitleaddon"/>
-      <bcf:field source="shorttitle" skip="true"/>
-      <bcf:field source="sorttitle" skip="true"/>
-      <bcf:field source="indextitle" skip="true"/>
-      <bcf:field source="indexsorttitle" skip="true"/>
-    </bcf:inherit>
-    <bcf:inherit>
-      <bcf:type_pair source="mvcollection" target="collection"/>
-      <bcf:type_pair source="mvcollection" target="reference"/>
-      <bcf:type_pair source="mvcollection" target="incollection"/>
-      <bcf:type_pair source="mvcollection" target="inreference"/>
-      <bcf:type_pair source="mvcollection" target="suppcollection"/>
-      <bcf:type_pair source="mvreference" target="collection"/>
-      <bcf:type_pair source="mvreference" target="reference"/>
-      <bcf:type_pair source="mvreference" target="incollection"/>
-      <bcf:type_pair source="mvreference" target="inreference"/>
-      <bcf:type_pair source="mvreference" target="suppcollection"/>
-      <bcf:field source="title" target="maintitle"/>
-      <bcf:field source="subtitle" target="mainsubtitle"/>
-      <bcf:field source="titleaddon" target="maintitleaddon"/>
-      <bcf:field source="shorttitle" skip="true"/>
-      <bcf:field source="sorttitle" skip="true"/>
-      <bcf:field source="indextitle" skip="true"/>
-      <bcf:field source="indexsorttitle" skip="true"/>
-    </bcf:inherit>
-    <bcf:inherit>
-      <bcf:type_pair source="mvproceedings" target="proceedings"/>
-      <bcf:type_pair source="mvproceedings" target="inproceedings"/>
-      <bcf:field source="title" target="maintitle"/>
-      <bcf:field source="subtitle" target="mainsubtitle"/>
-      <bcf:field source="titleaddon" target="maintitleaddon"/>
-      <bcf:field source="shorttitle" skip="true"/>
-      <bcf:field source="sorttitle" skip="true"/>
-      <bcf:field source="indextitle" skip="true"/>
-      <bcf:field source="indexsorttitle" skip="true"/>
-    </bcf:inherit>
-    <bcf:inherit>
-      <bcf:type_pair source="book" target="inbook"/>
-      <bcf:type_pair source="book" target="bookinbook"/>
-      <bcf:type_pair source="book" target="suppbook"/>
-      <bcf:field source="title" target="booktitle"/>
-      <bcf:field source="subtitle" target="booksubtitle"/>
-      <bcf:field source="titleaddon" target="booktitleaddon"/>
-      <bcf:field source="shorttitle" skip="true"/>
-      <bcf:field source="sorttitle" skip="true"/>
-      <bcf:field source="indextitle" skip="true"/>
-      <bcf:field source="indexsorttitle" skip="true"/>
-    </bcf:inherit>
-    <bcf:inherit>
-      <bcf:type_pair source="collection" target="incollection"/>
-      <bcf:type_pair source="collection" target="inreference"/>
-      <bcf:type_pair source="collection" target="suppcollection"/>
-      <bcf:type_pair source="reference" target="incollection"/>
-      <bcf:type_pair source="reference" target="inreference"/>
-      <bcf:type_pair source="reference" target="suppcollection"/>
-      <bcf:field source="title" target="booktitle"/>
-      <bcf:field source="subtitle" target="booksubtitle"/>
-      <bcf:field source="titleaddon" target="booktitleaddon"/>
-      <bcf:field source="shorttitle" skip="true"/>
-      <bcf:field source="sorttitle" skip="true"/>
-      <bcf:field source="indextitle" skip="true"/>
-      <bcf:field source="indexsorttitle" skip="true"/>
-    </bcf:inherit>
-    <bcf:inherit>
-      <bcf:type_pair source="proceedings" target="inproceedings"/>
-      <bcf:field source="title" target="booktitle"/>
-      <bcf:field source="subtitle" target="booksubtitle"/>
-      <bcf:field source="titleaddon" target="booktitleaddon"/>
-      <bcf:field source="shorttitle" skip="true"/>
-      <bcf:field source="sorttitle" skip="true"/>
-      <bcf:field source="indextitle" skip="true"/>
-      <bcf:field source="indexsorttitle" skip="true"/>
-    </bcf:inherit>
-    <bcf:inherit>
-      <bcf:type_pair source="periodical" target="article"/>
-      <bcf:type_pair source="periodical" target="suppperiodical"/>
-      <bcf:field source="title" target="journaltitle"/>
-      <bcf:field source="subtitle" target="journalsubtitle"/>
-      <bcf:field source="titleaddon" target="journaltitleaddon"/>
-      <bcf:field source="shorttitle" skip="true"/>
-      <bcf:field source="sorttitle" skip="true"/>
-      <bcf:field source="indextitle" skip="true"/>
-      <bcf:field source="indexsorttitle" skip="true"/>
-    </bcf:inherit>
-    <bcf:inherit>
-      <bcf:type_pair source="*" target="*"/>
-      <bcf:field source="ids" skip="true"/>
-      <bcf:field source="crossref" skip="true"/>
-      <bcf:field source="xref" skip="true"/>
-      <bcf:field source="entryset" skip="true"/>
-      <bcf:field source="entrysubtype" skip="true"/>
-      <bcf:field source="execute" skip="true"/>
-      <bcf:field source="label" skip="true"/>
-      <bcf:field source="options" skip="true"/>
-      <bcf:field source="presort" skip="true"/>
-      <bcf:field source="related" skip="true"/>
-      <bcf:field source="relatedoptions" skip="true"/>
-      <bcf:field source="relatedstring" skip="true"/>
-      <bcf:field source="relatedtype" skip="true"/>
-      <bcf:field source="shorthand" skip="true"/>
-      <bcf:field source="shorthandintro" skip="true"/>
-      <bcf:field source="sortkey" skip="true"/>
-    </bcf:inherit>
-  </bcf:inheritance>
-  <!-- UNIQUENAME TEMPLATES -->
-  <bcf:uniquenametemplate name="global">
-    <bcf:namepart order="1" use="1" base="1">prefix</bcf:namepart>
-    <bcf:namepart order="2" base="1">family</bcf:namepart>
-    <bcf:namepart order="3">given</bcf:namepart>
-  </bcf:uniquenametemplate>
-  <!-- SORTING NAME KEY TEMPLATES -->
-  <bcf:sortingnamekeytemplate name="global">
-    <bcf:keypart order="1">
-      <bcf:part type="namepart" order="1" use="1">prefix</bcf:part>
-      <bcf:part type="namepart" order="2">family</bcf:part>
-    </bcf:keypart>
-    <bcf:keypart order="2">
-      <bcf:part type="namepart" order="1">given</bcf:part>
-    </bcf:keypart>
-    <bcf:keypart order="3">
-      <bcf:part type="namepart" order="1">suffix</bcf:part>
-    </bcf:keypart>
-    <bcf:keypart order="4">
-      <bcf:part type="namepart" order="1" use="0">prefix</bcf:part>
-    </bcf:keypart>
-  </bcf:sortingnamekeytemplate>
-  <bcf:presort>mm</bcf:presort>
-  <!-- DATA MODEL -->
-  <bcf:datamodel>
-    <bcf:constants>
-      <bcf:constant type="list" name="gender">sf,sm,sn,pf,pm,pn,pp</bcf:constant>
-      <bcf:constant type="list" name="nameparts">family,given,prefix,suffix</bcf:constant>
-      <bcf:constant type="list" name="optiondatatypes">boolean,integer,string,xml</bcf:constant>
-      <bcf:constant type="list" name="multiscriptforms">default,transliteration,transcription,translation</bcf:constant>
-    </bcf:constants>
-    <bcf:entrytypes>
-      <bcf:entrytype>article</bcf:entrytype>
-      <bcf:entrytype>artwork</bcf:entrytype>
-      <bcf:entrytype>audio</bcf:entrytype>
-      <bcf:entrytype>bibnote</bcf:entrytype>
-      <bcf:entrytype>book</bcf:entrytype>
-      <bcf:entrytype>bookinbook</bcf:entrytype>
-      <bcf:entrytype>booklet</bcf:entrytype>
-      <bcf:entrytype>collection</bcf:entrytype>
-      <bcf:entrytype>commentary</bcf:entrytype>
-      <bcf:entrytype>customa</bcf:entrytype>
-      <bcf:entrytype>customb</bcf:entrytype>
-      <bcf:entrytype>customc</bcf:entrytype>
-      <bcf:entrytype>customd</bcf:entrytype>
-      <bcf:entrytype>custome</bcf:entrytype>
-      <bcf:entrytype>customf</bcf:entrytype>
-      <bcf:entrytype>dataset</bcf:entrytype>
-      <bcf:entrytype>inbook</bcf:entrytype>
-      <bcf:entrytype>incollection</bcf:entrytype>
-      <bcf:entrytype>inproceedings</bcf:entrytype>
-      <bcf:entrytype>inreference</bcf:entrytype>
-      <bcf:entrytype>image</bcf:entrytype>
-      <bcf:entrytype>jurisdiction</bcf:entrytype>
-      <bcf:entrytype>legal</bcf:entrytype>
-      <bcf:entrytype>legislation</bcf:entrytype>
-      <bcf:entrytype>letter</bcf:entrytype>
-      <bcf:entrytype>manual</bcf:entrytype>
-      <bcf:entrytype>misc</bcf:entrytype>
-      <bcf:entrytype>movie</bcf:entrytype>
-      <bcf:entrytype>music</bcf:entrytype>
-      <bcf:entrytype>mvcollection</bcf:entrytype>
-      <bcf:entrytype>mvreference</bcf:entrytype>
-      <bcf:entrytype>mvproceedings</bcf:entrytype>
-      <bcf:entrytype>mvbook</bcf:entrytype>
-      <bcf:entrytype>online</bcf:entrytype>
-      <bcf:entrytype>patent</bcf:entrytype>
-      <bcf:entrytype>performance</bcf:entrytype>
-      <bcf:entrytype>periodical</bcf:entrytype>
-      <bcf:entrytype>proceedings</bcf:entrytype>
-      <bcf:entrytype>reference</bcf:entrytype>
-      <bcf:entrytype>report</bcf:entrytype>
-      <bcf:entrytype>review</bcf:entrytype>
-      <bcf:entrytype>set</bcf:entrytype>
-      <bcf:entrytype>software</bcf:entrytype>
-      <bcf:entrytype>standard</bcf:entrytype>
-      <bcf:entrytype>suppbook</bcf:entrytype>
-      <bcf:entrytype>suppcollection</bcf:entrytype>
-      <bcf:entrytype>suppperiodical</bcf:entrytype>
-      <bcf:entrytype>thesis</bcf:entrytype>
-      <bcf:entrytype>unpublished</bcf:entrytype>
-      <bcf:entrytype>video</bcf:entrytype>
-      <bcf:entrytype skip_output="true">xdata</bcf:entrytype>
-    </bcf:entrytypes>
-    <bcf:fields>
-      <bcf:field fieldtype="field" datatype="integer">sortyear</bcf:field>
-      <bcf:field fieldtype="field" datatype="integer">volume</bcf:field>
-      <bcf:field fieldtype="field" datatype="integer">volumes</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">abstract</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">addendum</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">annotation</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">booksubtitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">booktitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">booktitleaddon</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">chapter</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">edition</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">eid</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">entrysubtype</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">eprintclass</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">eprinttype</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">eventtitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">eventtitleaddon</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">gender</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">howpublished</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">indexsorttitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">indextitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">isan</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">isbn</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">ismn</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">isrn</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">issn</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">issue</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">issuesubtitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">issuetitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">issuetitleaddon</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">iswc</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">journalsubtitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">journaltitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">journaltitleaddon</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">label</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">langid</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">langidopts</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">library</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">mainsubtitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">maintitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">maintitleaddon</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">nameaddon</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">note</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">number</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">origtitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">pagetotal</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">part</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">relatedstring</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">relatedtype</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">reprinttitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">series</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">shorthandintro</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">subtitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">title</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">titleaddon</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">usera</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">userb</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">userc</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">userd</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">usere</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">userf</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">venue</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal">version</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal" label="true">shorthand</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal" label="true">shortjournal</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal" label="true">shortseries</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal" label="true">shorttitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal" skip_output="true">sorttitle</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal" skip_output="true">sortshorthand</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal" skip_output="true">sortkey</bcf:field>
-      <bcf:field fieldtype="field" datatype="literal" skip_output="true">presort</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">institution</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">lista</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">listb</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">listc</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">listd</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">liste</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">listf</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">location</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">organization</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">origlocation</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">origpublisher</bcf:field>
-      <bcf:field fieldtype="list" datatype="literal">publisher</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">afterword</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">annotator</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">author</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">bookauthor</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">commentator</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">editor</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">editora</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">editorb</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">editorc</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">foreword</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">holder</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">introduction</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">namea</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">nameb</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">namec</bcf:field>
-      <bcf:field fieldtype="list" datatype="name">translator</bcf:field>
-      <bcf:field fieldtype="list" datatype="name" label="true">shortauthor</bcf:field>
-      <bcf:field fieldtype="list" datatype="name" label="true">shorteditor</bcf:field>
-      <bcf:field fieldtype="list" datatype="name" skip_output="true">sortname</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">authortype</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">editoratype</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">editorbtype</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">editorctype</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">editortype</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">bookpagination</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">nameatype</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">namebtype</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">namectype</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">pagination</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">pubstate</bcf:field>
-      <bcf:field fieldtype="field" datatype="key">type</bcf:field>
-      <bcf:field fieldtype="list" datatype="key">language</bcf:field>
-      <bcf:field fieldtype="list" datatype="key">origlanguage</bcf:field>
-      <bcf:field fieldtype="field" datatype="entrykey">crossref</bcf:field>
-      <bcf:field fieldtype="field" datatype="entrykey">xref</bcf:field>
-      <bcf:field fieldtype="field" datatype="date" skip_output="true">date</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart" nullok="true">endyear</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart" nullok="true">year</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">month</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">day</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">hour</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">minute</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">second</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">timezone</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">season</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">endmonth</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">endday</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">endhour</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">endminute</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">endsecond</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">endtimezone</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">endseason</bcf:field>
-      <bcf:field fieldtype="field" datatype="date" skip_output="true">eventdate</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart" nullok="true">eventendyear</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart" nullok="true">eventyear</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventmonth</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventday</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventhour</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventminute</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventsecond</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventtimezone</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventseason</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventendmonth</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventendday</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventendhour</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventendminute</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventendsecond</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventendtimezone</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">eventendseason</bcf:field>
-      <bcf:field fieldtype="field" datatype="date" skip_output="true">origdate</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart" nullok="true">origendyear</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart" nullok="true">origyear</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origmonth</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origday</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">orighour</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origminute</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origsecond</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origtimezone</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origseason</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origendmonth</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origendday</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origendhour</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origendminute</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origendsecond</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origendtimezone</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">origendseason</bcf:field>
-      <bcf:field fieldtype="field" datatype="date" skip_output="true">urldate</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart" nullok="true">urlendyear</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart" nullok="true">urlyear</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlmonth</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlday</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlhour</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlminute</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlsecond</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urltimezone</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlseason</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlendmonth</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlendday</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlendhour</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlendminute</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlendsecond</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlendtimezone</bcf:field>
-      <bcf:field fieldtype="field" datatype="datepart">urlendseason</bcf:field>
-      <bcf:field fieldtype="field" datatype="verbatim">doi</bcf:field>
-      <bcf:field fieldtype="field" datatype="verbatim">eprint</bcf:field>
-      <bcf:field fieldtype="field" datatype="verbatim">file</bcf:field>
-      <bcf:field fieldtype="field" datatype="verbatim">verba</bcf:field>
-      <bcf:field fieldtype="field" datatype="verbatim">verbb</bcf:field>
-      <bcf:field fieldtype="field" datatype="verbatim">verbc</bcf:field>
-      <bcf:field fieldtype="field" datatype="uri">url</bcf:field>
-      <bcf:field fieldtype="field" format="xsv" datatype="entrykey" skip_output="true">xdata</bcf:field>
-      <bcf:field fieldtype="field" format="xsv" datatype="entrykey" skip_output="true">ids</bcf:field>
-      <bcf:field fieldtype="field" format="xsv" datatype="entrykey" skip_output="true">entryset</bcf:field>
-      <bcf:field fieldtype="field" format="xsv" datatype="entrykey">related</bcf:field>
-      <bcf:field fieldtype="field" format="xsv" datatype="keyword">keywords</bcf:field>
-      <bcf:field fieldtype="field" format="xsv" datatype="option" skip_output="true">options</bcf:field>
-      <bcf:field fieldtype="field" format="xsv" datatype="option" skip_output="true">relatedoptions</bcf:field>
-      <bcf:field fieldtype="field" datatype="range">pages</bcf:field>
-      <bcf:field fieldtype="field" datatype="code">execute</bcf:field>
-    </bcf:fields>
-    <bcf:entryfields>
-      <bcf:field>abstract</bcf:field>
-      <bcf:field>annotation</bcf:field>
-      <bcf:field>authortype</bcf:field>
-      <bcf:field>bookpagination</bcf:field>
-      <bcf:field>crossref</bcf:field>
-      <bcf:field>day</bcf:field>
-      <bcf:field>doi</bcf:field>
-      <bcf:field>eprint</bcf:field>
-      <bcf:field>eprintclass</bcf:field>
-      <bcf:field>eprinttype</bcf:field>
-      <bcf:field>endday</bcf:field>
-      <bcf:field>endhour</bcf:field>
-      <bcf:field>endminute</bcf:field>
-      <bcf:field>endmonth</bcf:field>
-      <bcf:field>endseason</bcf:field>
-      <bcf:field>endsecond</bcf:field>
-      <bcf:field>endtimezone</bcf:field>
-      <bcf:field>endyear</bcf:field>
-      <bcf:field>entryset</bcf:field>
-      <bcf:field>entrysubtype</bcf:field>
-      <bcf:field>execute</bcf:field>
-      <bcf:field>file</bcf:field>
-      <bcf:field>gender</bcf:field>
-      <bcf:field>hour</bcf:field>
-      <bcf:field>ids</bcf:field>
-      <bcf:field>indextitle</bcf:field>
-      <bcf:field>indexsorttitle</bcf:field>
-      <bcf:field>isan</bcf:field>
-      <bcf:field>ismn</bcf:field>
-      <bcf:field>iswc</bcf:field>
-      <bcf:field>keywords</bcf:field>
-      <bcf:field>label</bcf:field>
-      <bcf:field>langid</bcf:field>
-      <bcf:field>langidopts</bcf:field>
-      <bcf:field>library</bcf:field>
-      <bcf:field>lista</bcf:field>
-      <bcf:field>listb</bcf:field>
-      <bcf:field>listc</bcf:field>
-      <bcf:field>listd</bcf:field>
-      <bcf:field>liste</bcf:field>
-      <bcf:field>listf</bcf:field>
-      <bcf:field>minute</bcf:field>
-      <bcf:field>month</bcf:field>
-      <bcf:field>namea</bcf:field>
-      <bcf:field>nameb</bcf:field>
-      <bcf:field>namec</bcf:field>
-      <bcf:field>nameatype</bcf:field>
-      <bcf:field>namebtype</bcf:field>
-      <bcf:field>namectype</bcf:field>
-      <bcf:field>nameaddon</bcf:field>
-      <bcf:field>options</bcf:field>
-      <bcf:field>origday</bcf:field>
-      <bcf:field>origendday</bcf:field>
-      <bcf:field>origendhour</bcf:field>
-      <bcf:field>origendminute</bcf:field>
-      <bcf:field>origendmonth</bcf:field>
-      <bcf:field>origendseason</bcf:field>
-      <bcf:field>origendsecond</bcf:field>
-      <bcf:field>origendtimezone</bcf:field>
-      <bcf:field>origendyear</bcf:field>
-      <bcf:field>orighour</bcf:field>
-      <bcf:field>origminute</bcf:field>
-      <bcf:field>origmonth</bcf:field>
-      <bcf:field>origseason</bcf:field>
-      <bcf:field>origsecond</bcf:field>
-      <bcf:field>origtimezone</bcf:field>
-      <bcf:field>origyear</bcf:field>
-      <bcf:field>origlocation</bcf:field>
-      <bcf:field>origpublisher</bcf:field>
-      <bcf:field>origtitle</bcf:field>
-      <bcf:field>pagination</bcf:field>
-      <bcf:field>presort</bcf:field>
-      <bcf:field>related</bcf:field>
-      <bcf:field>relatedoptions</bcf:field>
-      <bcf:field>relatedstring</bcf:field>
-      <bcf:field>relatedtype</bcf:field>
-      <bcf:field>season</bcf:field>
-      <bcf:field>second</bcf:field>
-      <bcf:field>shortauthor</bcf:field>
-      <bcf:field>shorteditor</bcf:field>
-      <bcf:field>shorthand</bcf:field>
-      <bcf:field>shorthandintro</bcf:field>
-      <bcf:field>shortjournal</bcf:field>
-      <bcf:field>shortseries</bcf:field>
-      <bcf:field>shorttitle</bcf:field>
-      <bcf:field>sortkey</bcf:field>
-      <bcf:field>sortname</bcf:field>
-      <bcf:field>sortshorthand</bcf:field>
-      <bcf:field>sorttitle</bcf:field>
-      <bcf:field>sortyear</bcf:field>
-      <bcf:field>timezone</bcf:field>
-      <bcf:field>url</bcf:field>
-      <bcf:field>urlday</bcf:field>
-      <bcf:field>urlendday</bcf:field>
-      <bcf:field>urlendhour</bcf:field>
-      <bcf:field>urlendminute</bcf:field>
-      <bcf:field>urlendmonth</bcf:field>
-      <bcf:field>urlendsecond</bcf:field>
-      <bcf:field>urlendtimezone</bcf:field>
-      <bcf:field>urlendyear</bcf:field>
-      <bcf:field>urlhour</bcf:field>
-      <bcf:field>urlminute</bcf:field>
-      <bcf:field>urlmonth</bcf:field>
-      <bcf:field>urlsecond</bcf:field>
-      <bcf:field>urltimezone</bcf:field>
-      <bcf:field>urlyear</bcf:field>
-      <bcf:field>usera</bcf:field>
-      <bcf:field>userb</bcf:field>
-      <bcf:field>userc</bcf:field>
-      <bcf:field>userd</bcf:field>
-      <bcf:field>usere</bcf:field>
-      <bcf:field>userf</bcf:field>
-      <bcf:field>verba</bcf:field>
-      <bcf:field>verbb</bcf:field>
-      <bcf:field>verbc</bcf:field>
-      <bcf:field>xdata</bcf:field>
-      <bcf:field>xref</bcf:field>
-      <bcf:field>year</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>set</bcf:entrytype>
-      <bcf:field>entryset</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>article</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>annotator</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>commentator</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editora</bcf:field>
-      <bcf:field>editorb</bcf:field>
-      <bcf:field>editorc</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>editoratype</bcf:field>
-      <bcf:field>editorbtype</bcf:field>
-      <bcf:field>editorctype</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>issn</bcf:field>
-      <bcf:field>issue</bcf:field>
-      <bcf:field>issuetitle</bcf:field>
-      <bcf:field>issuesubtitle</bcf:field>
-      <bcf:field>issuetitleaddon</bcf:field>
-      <bcf:field>journalsubtitle</bcf:field>
-      <bcf:field>journaltitle</bcf:field>
-      <bcf:field>journaltitleaddon</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>origlanguage</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>translator</bcf:field>
-      <bcf:field>version</bcf:field>
-      <bcf:field>volume</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>bibnote</bcf:entrytype>
-      <bcf:field>note</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>book</bcf:entrytype>
-      <bcf:field>author</bcf:field>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>afterword</bcf:field>
-      <bcf:field>annotator</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>commentator</bcf:field>
-      <bcf:field>edition</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editora</bcf:field>
-      <bcf:field>editorb</bcf:field>
-      <bcf:field>editorc</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>editoratype</bcf:field>
-      <bcf:field>editorbtype</bcf:field>
-      <bcf:field>editorctype</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>foreword</bcf:field>
-      <bcf:field>introduction</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>maintitle</bcf:field>
-      <bcf:field>maintitleaddon</bcf:field>
-      <bcf:field>mainsubtitle</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>origlanguage</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>pagetotal</bcf:field>
-      <bcf:field>part</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>translator</bcf:field>
-      <bcf:field>volume</bcf:field>
-      <bcf:field>volumes</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>mvbook</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>afterword</bcf:field>
-      <bcf:field>annotator</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>commentator</bcf:field>
-      <bcf:field>edition</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editora</bcf:field>
-      <bcf:field>editorb</bcf:field>
-      <bcf:field>editorc</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>editoratype</bcf:field>
-      <bcf:field>editorbtype</bcf:field>
-      <bcf:field>editorctype</bcf:field>
-      <bcf:field>foreword</bcf:field>
-      <bcf:field>introduction</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>origlanguage</bcf:field>
-      <bcf:field>pagetotal</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>translator</bcf:field>
-      <bcf:field>volume</bcf:field>
-      <bcf:field>volumes</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>inbook</bcf:entrytype>
-      <bcf:entrytype>bookinbook</bcf:entrytype>
-      <bcf:entrytype>suppbook</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>afterword</bcf:field>
-      <bcf:field>annotator</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>booktitle</bcf:field>
-      <bcf:field>bookauthor</bcf:field>
-      <bcf:field>booksubtitle</bcf:field>
-      <bcf:field>booktitleaddon</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>commentator</bcf:field>
-      <bcf:field>edition</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editora</bcf:field>
-      <bcf:field>editorb</bcf:field>
-      <bcf:field>editorc</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>editoratype</bcf:field>
-      <bcf:field>editorbtype</bcf:field>
-      <bcf:field>editorctype</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>foreword</bcf:field>
-      <bcf:field>introduction</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>mainsubtitle</bcf:field>
-      <bcf:field>maintitle</bcf:field>
-      <bcf:field>maintitleaddon</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>origlanguage</bcf:field>
-      <bcf:field>part</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>translator</bcf:field>
-      <bcf:field>volume</bcf:field>
-      <bcf:field>volumes</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>booklet</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>howpublished</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>pagetotal</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>type</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>collection</bcf:entrytype>
-      <bcf:entrytype>reference</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>afterword</bcf:field>
-      <bcf:field>annotator</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>commentator</bcf:field>
-      <bcf:field>edition</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editora</bcf:field>
-      <bcf:field>editorb</bcf:field>
-      <bcf:field>editorc</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>editoratype</bcf:field>
-      <bcf:field>editorbtype</bcf:field>
-      <bcf:field>editorctype</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>foreword</bcf:field>
-      <bcf:field>introduction</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>mainsubtitle</bcf:field>
-      <bcf:field>maintitle</bcf:field>
-      <bcf:field>maintitleaddon</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>origlanguage</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>pagetotal</bcf:field>
-      <bcf:field>part</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>translator</bcf:field>
-      <bcf:field>volume</bcf:field>
-      <bcf:field>volumes</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>mvcollection</bcf:entrytype>
-      <bcf:entrytype>mvreference</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>afterword</bcf:field>
-      <bcf:field>annotator</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>commentator</bcf:field>
-      <bcf:field>edition</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editora</bcf:field>
-      <bcf:field>editorb</bcf:field>
-      <bcf:field>editorc</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>editoratype</bcf:field>
-      <bcf:field>editorbtype</bcf:field>
-      <bcf:field>editorctype</bcf:field>
-      <bcf:field>foreword</bcf:field>
-      <bcf:field>introduction</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>origlanguage</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>translator</bcf:field>
-      <bcf:field>volume</bcf:field>
-      <bcf:field>volumes</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>incollection</bcf:entrytype>
-      <bcf:entrytype>suppcollection</bcf:entrytype>
-      <bcf:entrytype>inreference</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>afterword</bcf:field>
-      <bcf:field>annotator</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>booksubtitle</bcf:field>
-      <bcf:field>booktitle</bcf:field>
-      <bcf:field>booktitleaddon</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>commentator</bcf:field>
-      <bcf:field>edition</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editora</bcf:field>
-      <bcf:field>editorb</bcf:field>
-      <bcf:field>editorc</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>editoratype</bcf:field>
-      <bcf:field>editorbtype</bcf:field>
-      <bcf:field>editorctype</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>foreword</bcf:field>
-      <bcf:field>introduction</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>mainsubtitle</bcf:field>
-      <bcf:field>maintitle</bcf:field>
-      <bcf:field>maintitleaddon</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>origlanguage</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>part</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>translator</bcf:field>
-      <bcf:field>volume</bcf:field>
-      <bcf:field>volumes</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>dataset</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>edition</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>organization</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>type</bcf:field>
-      <bcf:field>version</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>manual</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>edition</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>organization</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>pagetotal</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>type</bcf:field>
-      <bcf:field>version</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>misc</bcf:entrytype>
-      <bcf:entrytype>software</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>howpublished</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>organization</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>type</bcf:field>
-      <bcf:field>version</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>online</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>organization</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>version</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>patent</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>holder</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>type</bcf:field>
-      <bcf:field>version</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>periodical</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editora</bcf:field>
-      <bcf:field>editorb</bcf:field>
-      <bcf:field>editorc</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>editoratype</bcf:field>
-      <bcf:field>editorbtype</bcf:field>
-      <bcf:field>editorctype</bcf:field>
-      <bcf:field>issn</bcf:field>
-      <bcf:field>issue</bcf:field>
-      <bcf:field>issuesubtitle</bcf:field>
-      <bcf:field>issuetitle</bcf:field>
-      <bcf:field>issuetitleaddon</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>season</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>volume</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>mvproceedings</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>eventday</bcf:field>
-      <bcf:field>eventendday</bcf:field>
-      <bcf:field>eventendhour</bcf:field>
-      <bcf:field>eventendminute</bcf:field>
-      <bcf:field>eventendmonth</bcf:field>
-      <bcf:field>eventendseason</bcf:field>
-      <bcf:field>eventendsecond</bcf:field>
-      <bcf:field>eventendtimezone</bcf:field>
-      <bcf:field>eventendyear</bcf:field>
-      <bcf:field>eventhour</bcf:field>
-      <bcf:field>eventminute</bcf:field>
-      <bcf:field>eventmonth</bcf:field>
-      <bcf:field>eventseason</bcf:field>
-      <bcf:field>eventsecond</bcf:field>
-      <bcf:field>eventtimezone</bcf:field>
-      <bcf:field>eventyear</bcf:field>
-      <bcf:field>eventtitle</bcf:field>
-      <bcf:field>eventtitleaddon</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>organization</bcf:field>
-      <bcf:field>pagetotal</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>venue</bcf:field>
-      <bcf:field>volumes</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>proceedings</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>eventday</bcf:field>
-      <bcf:field>eventendday</bcf:field>
-      <bcf:field>eventendhour</bcf:field>
-      <bcf:field>eventendminute</bcf:field>
-      <bcf:field>eventendmonth</bcf:field>
-      <bcf:field>eventendseason</bcf:field>
-      <bcf:field>eventendsecond</bcf:field>
-      <bcf:field>eventendtimezone</bcf:field>
-      <bcf:field>eventendyear</bcf:field>
-      <bcf:field>eventhour</bcf:field>
-      <bcf:field>eventminute</bcf:field>
-      <bcf:field>eventmonth</bcf:field>
-      <bcf:field>eventseason</bcf:field>
-      <bcf:field>eventsecond</bcf:field>
-      <bcf:field>eventtimezone</bcf:field>
-      <bcf:field>eventyear</bcf:field>
-      <bcf:field>eventtitle</bcf:field>
-      <bcf:field>eventtitleaddon</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>mainsubtitle</bcf:field>
-      <bcf:field>maintitle</bcf:field>
-      <bcf:field>maintitleaddon</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>organization</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>pagetotal</bcf:field>
-      <bcf:field>part</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>venue</bcf:field>
-      <bcf:field>volume</bcf:field>
-      <bcf:field>volumes</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>inproceedings</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>booksubtitle</bcf:field>
-      <bcf:field>booktitle</bcf:field>
-      <bcf:field>booktitleaddon</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editortype</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>eventday</bcf:field>
-      <bcf:field>eventendday</bcf:field>
-      <bcf:field>eventendhour</bcf:field>
-      <bcf:field>eventendminute</bcf:field>
-      <bcf:field>eventendmonth</bcf:field>
-      <bcf:field>eventendseason</bcf:field>
-      <bcf:field>eventendsecond</bcf:field>
-      <bcf:field>eventendtimezone</bcf:field>
-      <bcf:field>eventendyear</bcf:field>
-      <bcf:field>eventhour</bcf:field>
-      <bcf:field>eventminute</bcf:field>
-      <bcf:field>eventmonth</bcf:field>
-      <bcf:field>eventseason</bcf:field>
-      <bcf:field>eventsecond</bcf:field>
-      <bcf:field>eventtimezone</bcf:field>
-      <bcf:field>eventyear</bcf:field>
-      <bcf:field>eventtitle</bcf:field>
-      <bcf:field>eventtitleaddon</bcf:field>
-      <bcf:field>isbn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>mainsubtitle</bcf:field>
-      <bcf:field>maintitle</bcf:field>
-      <bcf:field>maintitleaddon</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>organization</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>part</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>venue</bcf:field>
-      <bcf:field>volume</bcf:field>
-      <bcf:field>volumes</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>report</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>institution</bcf:field>
-      <bcf:field>isrn</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>number</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>pagetotal</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>type</bcf:field>
-      <bcf:field>version</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>thesis</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>eid</bcf:field>
-      <bcf:field>institution</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>pages</bcf:field>
-      <bcf:field>pagetotal</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>type</bcf:field>
-    </bcf:entryfields>
-    <bcf:entryfields>
-      <bcf:entrytype>unpublished</bcf:entrytype>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>eventday</bcf:field>
-      <bcf:field>eventendday</bcf:field>
-      <bcf:field>eventendhour</bcf:field>
-      <bcf:field>eventendminute</bcf:field>
-      <bcf:field>eventendmonth</bcf:field>
-      <bcf:field>eventendseason</bcf:field>
-      <bcf:field>eventendsecond</bcf:field>
-      <bcf:field>eventendtimezone</bcf:field>
-      <bcf:field>eventendyear</bcf:field>
-      <bcf:field>eventhour</bcf:field>
-      <bcf:field>eventminute</bcf:field>
-      <bcf:field>eventmonth</bcf:field>
-      <bcf:field>eventseason</bcf:field>
-      <bcf:field>eventsecond</bcf:field>
-      <bcf:field>eventtimezone</bcf:field>
-      <bcf:field>eventyear</bcf:field>
-      <bcf:field>eventtitle</bcf:field>
-      <bcf:field>eventtitleaddon</bcf:field>
-      <bcf:field>howpublished</bcf:field>
-      <bcf:field>language</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>pubstate</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>type</bcf:field>
-      <bcf:field>venue</bcf:field>
-    </bcf:entryfields>
-    <bcf:multiscriptfields>
-      <bcf:field>abstract</bcf:field>
-      <bcf:field>addendum</bcf:field>
-      <bcf:field>afterword</bcf:field>
-      <bcf:field>annotator</bcf:field>
-      <bcf:field>author</bcf:field>
-      <bcf:field>bookauthor</bcf:field>
-      <bcf:field>booksubtitle</bcf:field>
-      <bcf:field>booktitle</bcf:field>
-      <bcf:field>booktitleaddon</bcf:field>
-      <bcf:field>chapter</bcf:field>
-      <bcf:field>commentator</bcf:field>
-      <bcf:field>editor</bcf:field>
-      <bcf:field>editora</bcf:field>
-      <bcf:field>editorb</bcf:field>
-      <bcf:field>editorc</bcf:field>
-      <bcf:field>foreword</bcf:field>
-      <bcf:field>holder</bcf:field>
-      <bcf:field>institution</bcf:field>
-      <bcf:field>introduction</bcf:field>
-      <bcf:field>issuesubtitle</bcf:field>
-      <bcf:field>issuetitle</bcf:field>
-      <bcf:field>issuetitleaddon</bcf:field>
-      <bcf:field>journalsubtitle</bcf:field>
-      <bcf:field>journaltitle</bcf:field>
-      <bcf:field>journaltitleaddon</bcf:field>
-      <bcf:field>location</bcf:field>
-      <bcf:field>mainsubtitle</bcf:field>
-      <bcf:field>maintitle</bcf:field>
-      <bcf:field>maintitleaddon</bcf:field>
-      <bcf:field>nameaddon</bcf:field>
-      <bcf:field>note</bcf:field>
-      <bcf:field>organization</bcf:field>
-      <bcf:field>origlanguage</bcf:field>
-      <bcf:field>origlocation</bcf:field>
-      <bcf:field>origpublisher</bcf:field>
-      <bcf:field>origtitle</bcf:field>
-      <bcf:field>part</bcf:field>
-      <bcf:field>publisher</bcf:field>
-      <bcf:field>relatedstring</bcf:field>
-      <bcf:field>series</bcf:field>
-      <bcf:field>shortauthor</bcf:field>
-      <bcf:field>shorteditor</bcf:field>
-      <bcf:field>shorthand</bcf:field>
-      <bcf:field>shortjournal</bcf:field>
-      <bcf:field>shortseries</bcf:field>
-      <bcf:field>shorttitle</bcf:field>
-      <bcf:field>sortname</bcf:field>
-      <bcf:field>sortshorthand</bcf:field>
-      <bcf:field>sorttitle</bcf:field>
-      <bcf:field>subtitle</bcf:field>
-      <bcf:field>title</bcf:field>
-      <bcf:field>titleaddon</bcf:field>
-      <bcf:field>translator</bcf:field>
-      <bcf:field>venue</bcf:field>
-    </bcf:multiscriptfields>
-    <bcf:constraints>
-      <bcf:entrytype>article</bcf:entrytype>
-      <bcf:entrytype>book</bcf:entrytype>
-      <bcf:entrytype>inbook</bcf:entrytype>
-      <bcf:entrytype>bookinbook</bcf:entrytype>
-      <bcf:entrytype>suppbook</bcf:entrytype>
-      <bcf:entrytype>booklet</bcf:entrytype>
-      <bcf:entrytype>collection</bcf:entrytype>
-      <bcf:entrytype>incollection</bcf:entrytype>
-      <bcf:entrytype>suppcollection</bcf:entrytype>
-      <bcf:entrytype>manual</bcf:entrytype>
-      <bcf:entrytype>misc</bcf:entrytype>
-      <bcf:entrytype>mvbook</bcf:entrytype>
-      <bcf:entrytype>mvcollection</bcf:entrytype>
-      <bcf:entrytype>online</bcf:entrytype>
-      <bcf:entrytype>patent</bcf:entrytype>
-      <bcf:entrytype>periodical</bcf:entrytype>
-      <bcf:entrytype>suppperiodical</bcf:entrytype>
-      <bcf:entrytype>proceedings</bcf:entrytype>
-      <bcf:entrytype>inproceedings</bcf:entrytype>
-      <bcf:entrytype>reference</bcf:entrytype>
-      <bcf:entrytype>inreference</bcf:entrytype>
-      <bcf:entrytype>report</bcf:entrytype>
-      <bcf:entrytype>set</bcf:entrytype>
-      <bcf:entrytype>thesis</bcf:entrytype>
-      <bcf:entrytype>unpublished</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:fieldxor>
-          <bcf:field>date</bcf:field>
-          <bcf:field>year</bcf:field>
-        </bcf:fieldxor>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>set</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>entryset</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>article</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>author</bcf:field>
-        <bcf:field>journaltitle</bcf:field>
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>book</bcf:entrytype>
-      <bcf:entrytype>mvbook</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>author</bcf:field>
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>inbook</bcf:entrytype>
-      <bcf:entrytype>bookinbook</bcf:entrytype>
-      <bcf:entrytype>suppbook</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>author</bcf:field>
-        <bcf:field>title</bcf:field>
-        <bcf:field>booktitle</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>booklet</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:fieldor>
-          <bcf:field>author</bcf:field>
-          <bcf:field>editor</bcf:field>
-        </bcf:fieldor>
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>collection</bcf:entrytype>
-      <bcf:entrytype>reference</bcf:entrytype>
-      <bcf:entrytype>mvcollection</bcf:entrytype>
-      <bcf:entrytype>mvreference</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>editor</bcf:field>
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>incollection</bcf:entrytype>
-      <bcf:entrytype>suppcollection</bcf:entrytype>
-      <bcf:entrytype>inreference</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>author</bcf:field>
-        <bcf:field>editor</bcf:field>
-        <bcf:field>title</bcf:field>
-        <bcf:field>booktitle</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>dataset</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>manual</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>misc</bcf:entrytype>
-      <bcf:entrytype>software</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>online</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>title</bcf:field>
-        <bcf:fieldor>
-          <bcf:field>url</bcf:field>
-          <bcf:field>doi</bcf:field>
-          <bcf:field>eprint</bcf:field>
-        </bcf:fieldor>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>patent</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>author</bcf:field>
-        <bcf:field>title</bcf:field>
-        <bcf:field>number</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>periodical</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>editor</bcf:field>
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>proceedings</bcf:entrytype>
-      <bcf:entrytype>mvproceedings</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>inproceedings</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>author</bcf:field>
-        <bcf:field>title</bcf:field>
-        <bcf:field>booktitle</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>report</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>author</bcf:field>
-        <bcf:field>title</bcf:field>
-        <bcf:field>type</bcf:field>
-        <bcf:field>institution</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>thesis</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>author</bcf:field>
-        <bcf:field>title</bcf:field>
-        <bcf:field>type</bcf:field>
-        <bcf:field>institution</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:entrytype>unpublished</bcf:entrytype>
-      <bcf:constraint type="mandatory">
-        <bcf:field>author</bcf:field>
-        <bcf:field>title</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-    <bcf:constraints>
-      <bcf:constraint type="data" datatype="isbn">
-        <bcf:field>isbn</bcf:field>
-      </bcf:constraint>
-      <bcf:constraint type="data" datatype="issn">
-        <bcf:field>issn</bcf:field>
-      </bcf:constraint>
-      <bcf:constraint type="data" datatype="ismn">
-        <bcf:field>ismn</bcf:field>
-      </bcf:constraint>
-      <bcf:constraint type="data" datatype="pattern" pattern="(?:sf|sm|sn|pf|pm|pn|pp)">
-        <bcf:field>gender</bcf:field>
-      </bcf:constraint>
-    </bcf:constraints>
-  </bcf:datamodel>
-  <!-- CITATION DATA -->
-  <!-- SECTION 0 -->
-  <bcf:bibdata section="0">
-    <bcf:datasource type="file" datatype="bibtex" glob="false">BibTexDatei.bib</bcf:datasource>
-  </bcf:bibdata>
-  <bcf:section number="0">
-    <bcf:citekey order="1">Casper:2003tk</bcf:citekey>
-    <bcf:citekey order="2">Murphy:2012th</bcf:citekey>
-    <bcf:citekey order="3">Huang:2011wq</bcf:citekey>
-    <bcf:citekey order="4">Murphy:2004wl</bcf:citekey>
-    <bcf:citekey order="5">10.1145/1228716.1228718</bcf:citekey>
-    <bcf:citekey order="6">Sarkar:2017tt</bcf:citekey>
-    <bcf:citekey order="7">Faisal:2019uu</bcf:citekey>
-    <bcf:citekey order="8">Sousa:2017tn</bcf:citekey>
-    <bcf:citekey order="9">10.1145/2157689.2157818</bcf:citekey>
-    <bcf:citekey order="10">Nagi:2014vu</bcf:citekey>
-    <bcf:citekey order="11">Pourmehr:2013ta</bcf:citekey>
-    <bcf:citekey order="12">Ma:2015wu</bcf:citekey>
-    <bcf:citekey order="13">SOARES20151656</bcf:citekey>
-    <bcf:citekey order="14">Villani:2018ub</bcf:citekey>
-    <bcf:citekey order="15">Liu:2017tw</bcf:citekey>
-    <bcf:citekey order="16">Stotko:2019ud</bcf:citekey>
-    <bcf:citekey order="17">Wang:2017uy</bcf:citekey>
-    <bcf:citekey order="18">Matsas:2017aa</bcf:citekey>
-    <bcf:citekey order="19">Perez:2019ub</bcf:citekey>
-    <bcf:citekey order="20">Wang:2017uy</bcf:citekey>
-    <bcf:citekey order="21">Stotko:2019ud</bcf:citekey>
-    <bcf:citekey order="22">Moniri:2016ud</bcf:citekey>
-    <bcf:citekey order="23">Ostanin:2020uo</bcf:citekey>
-    <bcf:citekey order="24">Whitney:2018wk</bcf:citekey>
-    <bcf:citekey order="25">Perez:2019ub</bcf:citekey>
-    <bcf:citekey order="26">Matsas:2017aa</bcf:citekey>
-  </bcf:section>
-  <!-- SORTING TEMPLATES -->
-  <bcf:sortingtemplate name="none">
-    <bcf:sort order="1">
-      <bcf:sortitem order="1">citeorder</bcf:sortitem>
-    </bcf:sort>
-  </bcf:sortingtemplate>
-  <!-- DATALISTS -->
-  <bcf:datalist section="0"
-                name="none/global//global/global"
-                type="entry"
-                sortingtemplatename="none"
-                sortingnamekeytemplatename="global"
-                labelprefix=""
-                uniquenametemplatename="global"
-                labelalphanametemplatename="global">
-  </bcf:datalist>
-</bcf:controlfile>

Thesis_LaTeX/Thesis_Jingyi.blg

@@ -1,32 +0,0 @@
-[0] Config.pm:311> INFO - This is Biber 2.16
-[0] Config.pm:314> INFO - Logfile is 'Thesis_Jingyi.blg'
-[61] biber-darwin:340> INFO - === Mon Jul  5, 2021, 14:13:16
-[74] Biber.pm:415> INFO - Reading 'Thesis_Jingyi.bcf'
-[154] Biber.pm:952> INFO - Found 22 citekeys in bib section 0
-[165] Biber.pm:4340> INFO - Processing section 0
-[174] Biber.pm:4531> INFO - Looking for bibtex format file 'BibTexDatei.bib' for section 0
-[176] bibtex.pm:1689> INFO - LaTeX decoding ...
-[219] bibtex.pm:1494> INFO - Found BibTeX data source 'BibTexDatei.bib'
-[239] Utils.pm:395> WARN - ISBN '1941-0492' in entry 'Casper:2003tk' is invalid - run biber with '--validate_datamodel' for details.
-[260] Utils.pm:395> WARN - ISBN '2153-0866' in entry 'Murphy:2012th' is invalid - run biber with '--validate_datamodel' for details.
-[264] Utils.pm:395> WARN - ISBN '0197-7385' in entry 'Huang:2011wq' is invalid - run biber with '--validate_datamodel' for details.
-[266] Utils.pm:395> WARN - ISBN '1558-2442' in entry 'Murphy:2004wl' is invalid - run biber with '--validate_datamodel' for details.
-[286] Utils.pm:395> WARN - Entry 'Sousa:2017tn' (BibTexDatei.bib): Invalid format '2017/10/18' of date field 'date' - ignoring
-[295] Utils.pm:395> WARN - ISBN '2153-0866' in entry 'Nagi:2014vu' is invalid - run biber with '--validate_datamodel' for details.
-[299] Utils.pm:395> WARN - ISBN '2153-0866' in entry 'Pourmehr:2013ta' is invalid - run biber with '--validate_datamodel' for details.
-[303] Utils.pm:395> WARN - ISBN '1558-2531' in entry 'Ma:2015wu' is invalid - run biber with '--validate_datamodel' for details.
-[310] Utils.pm:395> WARN - ISBN '1944-9437' in entry 'Villani:2018ub' is invalid - run biber with '--validate_datamodel' for details.
-[314] Utils.pm:395> WARN - ISBN '1944-9437' in entry 'Liu:2017tw' is invalid - run biber with '--validate_datamodel' for details.
-[319] Utils.pm:395> WARN - Entry 'Stotko:2019ud' (BibTexDatei.bib): Invalid format '2019/11/01' of date field 'date' - ignoring
-[327] Utils.pm:395> WARN - ISBN '1955-2505' in entry 'Matsas:2017aa' is invalid - run biber with '--validate_datamodel' for details.
-[331] Utils.pm:395> WARN - ISBN '0166-3615' in entry 'Perez:2019ub' is invalid - run biber with '--validate_datamodel' for details.
-[335] Utils.pm:395> WARN - ISBN '2472-7571' in entry 'Moniri:2016ud' is invalid - run biber with '--validate_datamodel' for details.
-[340] Utils.pm:395> WARN - ISBN '2577-087X' in entry 'Ostanin:2020uo' is invalid - run biber with '--validate_datamodel' for details.
-[344] Utils.pm:395> WARN - ISBN '2153-0866' in entry 'Whitney:2018wk' is invalid - run biber with '--validate_datamodel' for details.
-[362] UCollate.pm:68> INFO - Overriding locale 'en-US' defaults 'variable = shifted' with 'variable = non-ignorable'
-[362] UCollate.pm:68> INFO - Overriding locale 'en-US' defaults 'normalization = NFD' with 'normalization = prenormalized'
-[362] Biber.pm:4168> INFO - Sorting list 'none/global//global/global' of type 'entry' with template 'none' and locale 'en-US'
-[362] Biber.pm:4174> INFO - No sort tailoring available for locale 'en-US'
-[377] bbl.pm:654> INFO - Writing 'Thesis_Jingyi.bbl' with encoding 'UTF-8'
-[391] bbl.pm:757> INFO - Output to Thesis_Jingyi.bbl
-[391] Biber.pm:128> INFO - WARNINGS: 16

Thesis_LaTeX/Thesis_Jingyi.fdb_latexmk

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-(fontspec)             <->s*[1]"[Roboto-Thin.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
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-(fontspec)             <->s*[1]"[Roboto-ThinItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;"
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-(fontspec)             <->s*[1]"[Roboto-ThinItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
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-(fontspec)             options [Ligatures = TeX,Scale = 1,Extension =
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-(fontspec)              This font family consists of the following NFSS
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
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-(fontspec)             - 'small caps'  (m/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Light.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
-(fontspec)             - 'italic' (m/it) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-LightItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;"
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-(fontspec)             <->s*[1]"[Roboto-LightItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
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-Package fontspec Info: Font family 'Roboto(6)' created for font 'Roboto' with
-(fontspec)             options [Ligatures = TeX,Scale = 1,Extension =
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-(fontspec)              This font family consists of the following NFSS
-(fontspec)             series/shapes:
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Bold.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;"
-(fontspec)             - 'small caps'  (m/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Bold.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
-(fontspec)             - 'italic' (m/it) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;"
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-(fontspec)             <->s*[1]"[Roboto-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
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-Package fontspec Info: Font family 'Roboto(7)' created for font 'Roboto' with
-(fontspec)             options [Ligatures = TeX,Scale = 1,Extension =
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-(fontspec)              This font family consists of the following NFSS
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Black.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;"
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-(fontspec)             <->s*[1]"[Roboto-Black.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
-(fontspec)             - 'italic' (m/it) with NFSS spec.:
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-(fontspec)             <->s*[1]"[Roboto-BlackItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
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-Package fontspec Info: Font family 'Roboto(8)' created for font 'Roboto' with
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-(fontspec)              This font family consists of the following NFSS
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Regular.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+onum;"
-(fontspec)             - 'small caps'  (m/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Regular.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+onum;+smcp;"
-(fontspec)             - 'bold' (b/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Bold.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+onum;"
-(fontspec)             - 'bold small caps'  (b/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Bold.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+onum;+smcp;"
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-(fontspec)             <->s*[1]"[Roboto-Italic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+onum;"
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-(fontspec)             <->s*[1]"[Roboto-Italic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+onum;+smcp;"
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-(fontspec)             <->s*[1]"[Roboto-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+onum;"
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-(fontspec)             <->s*[1]"[Roboto-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+onum;+smcp;"
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-
-Package fontspec Info: Font family 'Roboto(9)' created for font 'Roboto' with
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-(fontspec)              This font family consists of the following NFSS
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Regular.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+lnum;"
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-(fontspec)             <->s*[1]"[Roboto-Regular.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+lnum;+smcp;"
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-(fontspec)             <->s*[1]"[Roboto-Bold.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+lnum;"
-(fontspec)             - 'bold small caps'  (b/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Bold.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+lnum;+smcp;"
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-(fontspec)             <->s*[1]"[Roboto-Italic.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+lnum;"
-(fontspec)             - 'italic small caps'  (m/scit) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Italic.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+lnum;+smcp;"
-(fontspec)             - 'bold italic' (b/it) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+lnum;"
-(fontspec)             - 'bold italic small caps'  (b/scit) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+lnum;+smcp;"
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-
-Package fontspec Info: Font family 'Roboto(10)' created for font 'Roboto' with
-(fontspec)             options [Ligatures = TeX,Scale = 1,Extension =
-(fontspec)             .otf,Numbers = {Monospaced,OldStyle},UprightFont =
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-(fontspec)              This font family consists of the following NFSS
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Regular.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+onum;"
-(fontspec)             - 'small caps'  (m/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Regular.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+onum;+smcp;"
-(fontspec)             - 'bold' (b/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Bold.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+onum;"
-(fontspec)             - 'bold small caps'  (b/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Bold.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+onum;+smcp;"
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-(fontspec)             <->s*[1]"[Roboto-Italic.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+onum;"
-(fontspec)             - 'italic small caps'  (m/scit) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-Italic.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+onum;+smcp;"
-(fontspec)             - 'bold italic' (b/it) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+onum;"
-(fontspec)             - 'bold italic small caps'  (b/scit) with NFSS spec.:
-(fontspec)             <->s*[1]"[Roboto-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+tnum;+onum;+smcp;"
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-) (/usr/local/texlive/2021/texmf-dist/tex/latex/roboto/roboto-mono.sty
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-Package fontspec Info: Font family 'RobotoMono(0)' created for font
-(fontspec)             'RobotoMono' with options [HyphenChar=None,Scale =
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-(fontspec)             .otf,WordSpace={1,0,0},HyphenChar=None,PunctuationSpace=WordSpace,UprightFont
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-(fontspec)              This font family consists of the following NFSS
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Regular.otf]:mode=node;script=DFLT;language=dflt;"
-(fontspec)             - 'small caps'  (m/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Regular.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             - 'bold' (b/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Bold.otf]:mode=node;script=DFLT;language=dflt;"
-(fontspec)             - 'bold small caps'  (b/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Bold.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             - 'italic' (m/it) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Italic.otf]:mode=node;script=DFLT;language=dflt;"
-(fontspec)             - 'italic small caps'  (m/scit) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Italic.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             \fontdimen 2\font =1\fontdimen 2\font \fontdimen 3\font
-(fontspec)             =0\fontdimen 3\font \fontdimen 4\font =0\fontdimen
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-(fontspec)             \tex_hyphenchar:D \font =-1\scan_stop:
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-(fontspec)             - 'bold italic' (b/it) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-BoldItalic.otf]:mode=node;script=DFLT;language=dflt;"
-(fontspec)             - 'bold italic small caps'  (b/scit) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-BoldItalic.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             'RobotoMono' with options [HyphenChar=None,Scale =
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-(fontspec)              This font family consists of the following NFSS
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Regular.otf]:mode=node;script=DFLT;language=dflt;"
-(fontspec)             - 'small caps'  (m/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Regular.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             - 'bold' (b/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Bold.otf]:mode=node;script=DFLT;language=dflt;"
-(fontspec)             - 'bold small caps'  (b/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Bold.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             - 'italic' (m/it) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Italic.otf]:mode=node;script=DFLT;language=dflt;"
-(fontspec)             - 'italic small caps'  (m/scit) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Italic.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             - 'bold italic' (b/it) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-BoldItalic.otf]:mode=node;script=DFLT;language=dflt;"
-(fontspec)             - 'bold italic small caps'  (b/scit) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-BoldItalic.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             \tex_hyphenchar:D \font =-1\scan_stop: 
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-luaotfload | aux : font no 70 (nil) defines no feature for script latn
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-Package fontspec Info: Font family 'RobotoMono(2)' created for font
-(fontspec)             'RobotoMono' with options [HyphenChar=None,Scale =
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-(fontspec)              This font family consists of the following NFSS
-(fontspec)             series/shapes:
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Regular.otf]:mode=node;script=DFLT;language=dflt;"
-(fontspec)             - 'small caps'  (m/sc) with NFSS spec.:
-(fontspec)             <->s*[1]"[RobotoMono-Regular.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             <->s*[1]"[RobotoMono-Italic.otf]:mode=node;script=DFLT;language=dflt;"
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-(fontspec)             <->s*[1]"[RobotoMono-Italic.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             \tex_hyphenchar:D \font =-1\scan_stop: 
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-(fontspec)             'RobotoMono' with options [HyphenChar=None,Scale =
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-(fontspec)              This font family consists of the following NFSS
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
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-(fontspec)             <->s*[1]"[RobotoMono-Medium.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             <->s*[1]"[RobotoMono-MediumItalic.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             \tex_hyphenchar:D \font =-1\scan_stop: 
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-luaotfload | aux : font no 78 (nil) defines no feature for script latn
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-Package fontspec Info: Font family 'RobotoMono(4)' created for font
-(fontspec)             'RobotoMono' with options [HyphenChar=None,Scale =
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
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-(fontspec)             <->s*[1]"[RobotoMono-Thin.otf]:mode=node;script=DFLT;language=dflt;+smcp;"
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-(fontspec)             \tex_hyphenchar:D \font =-1\scan_stop: 
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-(fontspec)              This font family consists of the following NFSS
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-(fontspec)             - 'normal' (m/n) with NFSS spec.:
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-\contentsline {subsection}{\numberline {4.4.2}Lab Mode}{11}{subsection.4.4.2}%
-\defcounter {refsection}{0}\relax 
-\contentsline {subsection}{\numberline {4.4.3}Remote Mode}{13}{subsection.4.4.3}%
-\defcounter {refsection}{0}\relax 
-\contentsline {subsection}{\numberline {4.4.4}UI Mode}{13}{subsection.4.4.4}%
-\defcounter {refsection}{0}\relax 
-\contentsline {section}{\numberline {4.5}Test Scene}{14}{section.4.5}%
-\defcounter {refsection}{0}\relax 
-\contentsline {chapter}{\numberline {5}Evaluation of User Experience}{15}{chapter.5}%
-\defcounter {refsection}{0}\relax 
-\contentsline {section}{\numberline {5.1}Study Design}{15}{section.5.1}%
-\defcounter {refsection}{0}\relax 
-\contentsline {section}{\numberline {5.2}Procedure}{15}{section.5.2}%
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-\contentsline {subsection}{\numberline {5.2.1}Demographics and Introduction}{15}{subsection.5.2.1}%
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-\contentsline {subsection}{\numberline {5.2.2}Entering the world of VR}{16}{subsection.5.2.2}%
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-\contentsline {subsection}{\numberline {5.2.3}Practice and evaluation of modes}{16}{subsection.5.2.3}%
-\defcounter {refsection}{0}\relax 
-\contentsline {chapter}{\numberline {6}Results and discussion}{17}{chapter.6}%
-\defcounter {refsection}{0}\relax 
-\contentsline {chapter}{\numberline {7}Conclusion and future work}{18}{chapter.7}%
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Thesis_LaTeX/Thesis_Jingyi.xdy

@@ -1,439 +0,0 @@
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Thesis_LaTeX/Thesis_Jingyi.xmpdata

@@ -1,4 +0,0 @@
-\Title{Concepts for operating ground based rescue robots using virtual reality}
-\Author{Jingyi Jia}
-\Publisher{TU Darmstadt}
-\Creator{LaTeX using TUDa-CI}

Thesis_LaTeX/chapters/abstract.tex

@@ -1 +0,0 @@
-\chapter{Abstract}

Thesis_LaTeX/chapters/evaluate.tex

@@ -1,33 +0,0 @@
-\chapter{Evaluation of User Experience}
-\label{evaluate}
-
-
-This chapter describes the design and detailed process of the user evaluation. The purpose of this user study is to measure the impact of four different modes of operation on rescue efficiency, robot driving performance, and psychological and physiological stress and fatigue, etc. For this purpose, participants are asked to find victims in a test scene using different modes of operation and to answer questionnaires after the test corresponding to each mode of operation.
-
-
-\section{Study Design}
-
-The evaluation for each mode of operation consists of two main parts. The first part is the data recorded during the process of the participant driving the robot in the VR environment to find the victims. The recorded data includes information about the robot's collision and the speed of driving etc. The rescue of the victims was also considered as part of the evaluation. The Official NASA Task Load Index (TLX) was used to measure the participants subjective workload asessments. Additionally, participants were asked specific questions for each mode and were asked to select their favorite and least favorite operation mode. In order to reduce the influence of order effects on the testl results, the Balanced Latin Square was used when arranging the test order for the four operation modes.
-
-
-
-\section{Procedure}
-\subsection{Demographics and Introduction }
-Before the beginning of the actual testing process, participants were informed of the purpose of the project, the broad process and the content of the data that would be collected. After filling in the basic demographics, the features of each of the four modes of operation and their rough usage were introduced verbally with a display of the buttons on the motion controllers.
-
-
-
-\subsection{Entering the world of VR}
-After the basic introduction part, participants would directly put on the VR headset and enter the VR environment to complete the rest of the tutorial. Considering that participants might not have experience with VR and that it would take time to learn how to operate the four different modes, the proposed system additionally sets up a practice pattern and places some models of victims in the practice scene. After entering the VR world, participants first needed to familiarize themselves with the opening and closing menu, as well as useing the motion controllers to try to teleport themselves, or raise themselves into mid-air. Finally participants were asked to interact with the victim model through virtual hands. After this series of general tutorials, participants were already generally familiar with the use of VR and how to move around in the VR world.
-
-
-
-\subsection{Practice and evaluation of modes}
-Given the different manipulation approaches for each mode, in order to avoid confusion between the different modes, participants would then take turns practicing and directly evaluating each mode immediately afterwards. 
-
-The sequence of modes to be tested  is predetermined. The order effect is an important factor affecting the test results. If the order of the operational modes to be tested was the same for each participant, the psychological and physical exhaustion caused by the last operation mode would inevitably be greater. In order to minimize the influence of the order effect on the results of the test, the Balanced Latin Square with the size of four was used to arrange the test order of the four operation modes.
-
-Participants automatically entered the practice scene corresponding to the relevant operation mode in the predefined order. After attempting to rescue 1-2 victim models and the participant indicated that he or she was familiar enough with this operation mode, the participant would enter the test scene. In the test scene, participants had to save as many victims as possible in a given time limit. Participants were required to move the robot around the test scene to explore the post-disaster city and to find and rescue victims. In this process, if the robot crashes with buildings, obstacles, etc., besides the collision information being recorded as test data, participants would also receive sound and vibration feedback. The test will automatically end when time runs out or when all the victims in the scene have been rescued. Participants were required to complete the evaluation questionnaire and the NASA evaluation form at the end of each test. This process was repeated in each mode of operation. 
-
-After all the tests were completed, participants were asked to compare the four operation modes and select the one they liked the most and the one they liked the least. In addition, participants could give their reasons for the choice and express their opinions as much as they wanted, such as suggestions for improvement or problems found during operation.
-

Thesis_LaTeX/chapters/glossary.tex

@@ -1,243 +0,0 @@
-\NewDocumentCommand{\newdualentry}{m m m m o o}{%
-	\IfValueTF{#5}
-	{\newglossaryentry{main-#1}{name={#3},%
-		text={#2\glsadd{#1}},%
-		description={\glsresetall#4}%
-	}%
-	\newacronym[longplural={#5}, shortplural={#6}]{#1}{#2\glsadd{main-#1}}{#3}
-	}
-	{\newglossaryentry{main-#1}{name={#3},%
-			text={#2\glsadd{#1}},%
-			description={\glsresetall#4}%
-		}%
-		\newacronym{#1}{#2\glsadd{main-#1}}{#3}
-	}
-}
-
-\newdualentry{conti} % label
-{RVC}            % abbreviation
-{Reality-Virtuality Continuum}  % long form
-{\glsresetall is a continuous, one dimensional scale with the two extremes \textit{real environment} and \textit{virtual environment}.
-Every possible combination of real and virtual objects can be placed on this scale with \gls{ar} and \gls{vr} making up the area between its two extremes.}% description
-
-
-
-
-
-\newdualentry{vr} % label
-{VR}            % abbreviation
-{Virtual Reality}  % long form
-{\glsresetall A computer generated reality comprised of, potential three dimensional, images and possibly sound.
-In the context specifically a generated reality experienced using specialized hardware other than simple computer monitors.
-The \gls{vr} replaces the normal reality by either utilizing specialized rooms with walls and ceilings being able to display an alternate reality e.g. \glspl{cave}.
-Or by donning a \gls{hmd} which displays the \gls{ve} in front of the user at all times, changing the view port according to the user's movements.
-Such \glspl{hmd} include the \gls{vive} and \gls{ocu}.
-These modern \glspl{hmd} track the user, enabling them to interact with the environment presented to them.}% description
-[Virtual Realities][VRs]% optional parameter !!! NO LEADING SPACE OR ANYTHING !!!
-
-\newdualentry{ve} % label
-{VE}            % abbreviation
-{Virtual Environment}  % long form
-{\glsresetall The environment in which a \gls{vr} experience takes place.
-Usually a level in a computer game or a specialized scene for training or showcasing purposes.
-Such a \gls{ve} is defined by its audio-visual design as well as the interaction possibilities and environmental conditions e.g. gravity which can differ from the normal reality we are used to.}% description
-
-\newdualentry{ar} % label
-{AR}            % abbreviation
-{Augmented Reality}  % long form
-{\glsresetall A computer generated reality overlayed onto the existing reality.
-Comprised of possibly three dimensional audio and visual information.
-\Glspl{ar} usually incorporate the real reality on some way into their representation.
-This can either be using physical surfaces and walls in computer generated scenes to e.g. place a 3D-Model on a table.
-Or additional information to what is already apparent in reality, augmenting the users vision e.g. labels denoting the content of containers in an industrial setting.
-Such augmentations are usually achieved using see through displays to visualize data on top of reality.
-The \gls{holo} is one of the most prominent \gls{ar} \glspl{hmd} currently in use.}% description
-[Augmented Realities][AVs]% optional parameter !!! NO LEADING SPACE OR ANYTHING !!!
-
-\newdualentry{hmd} % label
-{HMD}            % abbreviation
-{Head Mounted Display}  % long form
-{\glsresetall One or multiple displays being mounted on a users head and positioned in front of their eyes.
-This eliminates the need for multiple or curved displays to be able to offer information in every direction the user looks.
-They rely on tracking of the user's head's rotation and in most cases translation to change the view port displayed accordingly.
-\Glspl{hmd} can either be see through to facilitate \gls{ar} or not which can be used for \gls{ar} or \gls{vr} applications.
-\Gls{ar} applications using non see through \gls{hmd} however need additional cameras to display reality for the user.
-This form of \gls{ar} is also called \gls{av}.
-}% description
-
-\newdualentry{av} % label
-{AV}            % abbreviation
-{Augmented Virtuality}  % long form
-{\glsresetall The counter piece to \gls{ar}, augmenting a \gls{vr} experience with information from the real world.
-Real world information captured by cameras is incorporated into the \gls{ve}.
-An example for this is the topic of this thesis, augmenting the \gls{ve} with different representations of passersby.}% description
-[Augmented Virtualities][AVs]% optional parameter !!! NO LEADING SPACE OR ANYTHING !!!
-
-\newdualentry{svr} % label
-{SVR}            % abbreviation
-{SteamVR}  % long form
-{\glsresetall \Gls{svr} is a framework developed by Valve, aimed to provide a single API for \gls{vr} applications.
-Also, recently known as OpenVR, this API provides an abstraction from different \glspl{hmd} and input devices.
-Furthermore, it handles device recognition and 3D poser updates for the different tracked devices.
-In addition, it handles data about the physical world, overlaying \gls{chap} boundaries should a user approach the borders of their physical space.
-Fade to gray in case of tracking loss or applying time warping in case of low frame rates
-Time warping in this case is a technique to reduce motion sickness in case insufficient frame rates.
-Old camera images are re-rendered with slightly changed camera positions, allowing for close enough replacement of the missed frame, usually at the expense of black bars at the side of the images.
-}% description
-
-
-\newdualentry{rtlx} % label
-{RTLX}            % abbreviation
-{Raw NASA Task Load Index}  % long form
-{\glsresetall The NASA Task Load Index is a standardized, multidimensional test, developed to rate perceived workload of a given task.
-	The different dimensions are mental demand, physical demand, temporal demand, overall performance, effort and frustration level.
-In its default method evaluation, participants are also tasked pairwise rank the different dimensions according to their perceived importance.
-When this ranking step is left out, the NASA TLX is designated \gls{rtlx}.
-}% description
-
-\newdualentry{cave}
-{CAVE}
-{Cave Automatic Virtual Environment}
-{\glsresetall An early approach for \gls{vr}, utilizing displays or rear-projection screens on walls, ceiling and floor to display the \gls{ve} around a user.
-	Early approaches simply displayed a two dimensional \gls{ve}, later installments utilized 3D glasses and head tracking to correctly adjust the field of view to the user's position.
-}%
-
-\newdualentry{vrtk}
-{VRTK}
-{Virtual Reality Toolkit}
-{\glsresetall A \gls{unity} SDK aiming to provide a single API for all \glspl{hmd} on the development side.
-Providing developers with easy to access, abstract interactions compatible with different \gls{hmd} systems.
-Also, implementing routinely needed functionalities such as a system for picking up and throwing items, which \gls{svr} does not provide at this time.}%
-
-\newglossaryentry{pentile}
-{name={pentile},
-	description={\glsresetall A display technology using more green than red and blue sub pixels.
-		Blue and red sub pixels in a line always have a green sub pixel to their left and right.
-		This gives a display a higher resolution for the color green, which the human eye is more sensible to.
-		This increased sensibility means, that humans can differentiate more shades of green than any other color, which this display technology can leverage.}
-}
-
-\newglossaryentry{kinect}
-{name={Microsoft Kinect V2},
-	description={\glsresetall A combined depth and infrared sensor with an RGB-Camera, developed by Microsoft.
-	The depth and infrared sensor operates on distances from 0.4m up to 4.5m, with a resolution of 512$\times$424.
-	The RGB-Camera works at a resolution of 1920$\times$1080.
-	Those three sensor work at 30Hz and have a field of view of 70° horizontal and 60° vertical.
-	Furthermore, the \gls{kinect} is equipped with an array of four microphones to accurately locate sound sources.
-	Apart from the color and depth data, the \gls{kinect} also offers skeleton data, computed on the device, for persons inside its field of view.
-	A complete, tracked skeleton is made up of 26 joints.}
-}
-
-\newglossaryentry{light}
-{name={Lighthouse},
-	description={\glsresetall The \glspl{light} server as external reference points used by trackables in a \gls{space}.
-	They periodically sweep the area in front of them with infrared lasers which can be picked up by \gls{light}-tracking compatible hardware such as the \gls{vive}.
-	By measuring the time between a sync flash and the incoming sweep, angle and thus position of infrared sensors can be triangulated in 3D space.
-	This allows for highly accurate rotational and positional tracking.
-	Furthermore, this tracking method works rather efficiently, since it does not rely on computer vision approaches to extract features from a video feed as \gls{worldsense} style tracking or the \gls{ocu} do.}
-}
-
-
-\newglossaryentry{unity}
-{name={Unity3D},
-	description={\glsresetall A game engine using C\#, widely used in academic environments.
-	Being a game engine, \gls{unity} provides basic functionality needed to creat virtual evironments, may it be for normal \gls{vr} games and applications.
-	These funcitonalities include but are not limited to providing a rendering engine, an audio engine or managing different types of input or output devives.}
-}
-
-\newglossaryentry{immer}
-{name={immersion},
-description={\glsresetall The feeling of being in the scene, forgetting about the real world.}}
-
-\newglossaryentry{pres}
-{name={presence},
-	description={\glsresetall The feeling of actually being in the scene and not only existing in a scene.}}
-
-\newglossaryentry{chap}
-{name = {chaperone},
-	description={\glsresetall The chaperone system uses the borders given in the \gls{svr} room setup to overlay a mesh into \gls{vr}.
-		This mesh helps to prevent users from bumping into obstacles in the real world.}
-}
-
-\newglossaryentry{space}
-{name={tracking space},
-	description={\glsresetall Tracking space is the space covered by \glspl{light}.
-		In this area \gls{svr} trackables, relying on infrared beacons emitted by the \glspl{light}, can accurately determine their position and orientations in 3D space.}
-}
-
-
-\newglossaryentry{tracker}
-{name={VIVE tracker},
-	description={\glsresetall Standardized trackables compatible with \gls{svr} tracking. Offering a 1/4'' screw nut, as used for standard camera mounts, for mounting purposes.
-		The round trackers have a diameter of $99.65mm$ and a height of $42.27mm$.
-		They offer similar features to the \glspl{wand} and using the six pogo pins, can even trigger most of the \gls{wand}'s button events.
-		The pogo pins can also be used to supply power to the unit.} 
-}
-
-\newglossaryentry{vive}
-{name={HTC VIVE},
-	description={\glsresetall The \gls{vive} is a \gls{vr} \gls{hmd} using two motion controllers called \glspl{wand} de\-ve\-loped by HTC, utilizing Valve's lightouse tracking to aquire positional and rotational data.
-	It features two 1080$\times$1220 pixel \gls{pentile} OLED displays, one per eye, operating at idealy 90Hz.
-	Fresnell lenses are used to compensate for the short distance between the user's eyes, the resulting field of view is 110°.}
-}
-
-\newglossaryentry{wand}
-{name={VIVE wand},
-	description={\glsresetall Motion controllers used by HTC's \gls{vive} \gls{hmd}.
-		They feature an analog trigger, a circular touchpad which can diferenciate between press and touch, two small buttons on top and two grip bottons on each side of the handle.
-		The trigger is placed so it can be operated using one's index finger and the touchpad is placed so it can be operated with the thumb.
-		The two small buttons are placed above and below the touchpad and are used to open \gls{svr}'s dashboard and usually a menu specific to the application currently running.
-		The feature a rechargeable battery for wireless operation and can be charged using a standard micro-USB cable.
-		They measure about 117$mm \times $219$mm \times$ 83$mm$.}
-}
-
-\newglossaryentry{worldsense}
-{name={WorldSense},
-	description={\glsresetall Google's inside out tracking approach used in Daydream headsets.
-	Using relying on to fish eye cameras to detect and track landmarks in the real world, combining the visual cues with data from an inertial measurement unit.
-}
-}
-
-\newglossaryentry{ocu}
-{name={Oculus Rift},
-	description={\glsresetall A \gls{hmd} system developed by facebook, implementing a tracking approach different to the \gls{vive}'s.
-	Spatial tracking is achieved using multiple USB-cameras and computer vision to locate \gls{hmd} and controllers.
-	It features the same resolution as the \gls{vive}, 2160$\times$1200, also running at 90Hz and using OLED technology.}
-}
-
-\newglossaryentry{3D}
-{name={3D-Model},
-	description={\glsresetall Condition in which passersby are presented as 3D models.
-	Passersby's hands, torso and head are presented as 3D models in \gls{vr}, the style is similar to the ball game used as task for the study participants.
-	Users won't have to take of the \gls{hmd} in order to see the passersby}
-}
-
-\newglossaryentry{base}
-{name={Baseline},
-	description={\glsresetall Condition without any passersby overlay.
-	Users have to take off the \gls{hmd} in order to see the passersby.}
-}
-
-\newglossaryentry{point}
-{name={Point Cloud},
-	description={\glsresetall Condition in which passersby are presented as a point cloud.
-	Users won't have to take off the \gls{hmd} in order to see passersby.}
-}
-
-\newglossaryentry{ovr}
-{name={Camera Overlay},
-	description={\glsresetall Condition in which passersby are presented as a textured rectangle.
-	The \gls{vive}'s camera feed is used as texture, showing passersby and part of their surrounding in \gls{vr}.
-	Users won't have to take off the \gls{hmd} in order to see passersby.}
-}
-
-\newglossaryentry{holo}
-{name={Microsoft Hololens},
-	description={\glsresetall An \gls{ar} \gls{hmd} developed by Microsoft, currently mostly used in buisiness and academic applications.}
-}
-
-
-\makeglossaries
-
-% Use glsunset to set the first-use-flag. This prevents gloassaries-extra to append the short form to the long form on first use.
-% Use this i.e. for entries where long and short form are identical.

Thesis_LaTeX/chapters/implementation.tex

@@ -1,67 +0,0 @@
-\chapter{Implementation}
-\label{implementation}
-
-% summary
-In this chapter, the tools and techniques used in building this human-computer collaborative VR-based system are described. Special emphasis is given to the interaction techniques for different operation modes. In addition, the setup of the robot and the construction of test scenes will also be covered in this chapter.
-
-
-\section{Overview}
-The main goal of this work is to design and implement a VR-based human-robot collaboration system with different methods of operating the robot, in order to find out which method of operation is more suitable to control the rescue robot. Further, it is to provide some basic insights for future development directions and to provide a general direction for finding an intuitive, easy-to-use and efficient operation method. Therefore, the proposed system was developed using Unity, including four operation modes and corresponding test scenes for simulating post-disaster scenarios. In each operation mode, the user has a different method to control the robot. In addition, in order to better simulate the process by which the robot scans its surroundings and the computer side cumulatively gets a reconstructed 3D virtual scene, the test environment was implemented in such a way that the scene seen by the user depends on the robot's movement and the trajectory it travels through.
-
-\section{System Architecture}
-The proposed system runs on a computer with the Windows 10 operating system. This computer has been equipped with an Intel Core i7-8700K CPU, 32 GB RAM as well as a NVIDIA GTX 1080 GPU with 8 GB VRAM. HTC Vive is used as a VR device. It has a resolution of 1080 × 1200 per eye, resulting in a total resolution of 2160 × 1200 pixels, a refresh rate of 90 Hz, and a field of view of 110 degrees. It includes two motion controllers and uses two Lighthouses to track the position of the headset as well as the motion controllers.
-
-Unity was chosen as the platform to develop the system. Unity is a widely used game engine with a Steam VR plugin \footnote{https://assetstore.unity.com/packages/tools/integration/steamvr-plugin-32647}, which allows developers to focus on the VR environment and interactive behaviors in programming, rather than specific controller buttons and headset positioning, making VR development much simpler. Another reason why Unity was chosen as a development platform was the potential for collaboration with the Robot Operating System (ROS), a frequently used operating system for robot simulation and manipulation, which is flexible, low-coupling, distributed, open source, and has a powerful and rich third-party feature set. In terms of collaboration between Unity and ROS, Siemens provides open source software libraries and tools in C\# for communicating with ROS from .NET applications \footnote{https://github.com/siemens/ros-sharp}. Combining ROS and Unity to develop a collaborative human-robot interaction platform proved to be feasible \cite{Whitney:2018wk}. Since the focus of this paper is on human-robot interaction, collaboration and synchronization of ROS will not be explored in detail here.
-
-\section{Robot}
-To simulate the process of a robot using a LiDAR remote sensor to detect the real environment and synchronise it to Unity, a sphere collision body was set up on the robot. The robot will transform the Layers of the objects in the scene into visible Layers by collision detection and a trigger event (onTriggerEnter function). The robot's driving performance, such as the number of collisions, average speed, total distance, etc., will be recorded in each test. The detailed recorded information can be seen in Fig.\ref{fig:uml}. The movement of the robot depends on the value of the signal that is updated in each mode. In addition, the robot's Gameobject has the NavMeshAgent \footnote{https://docs.unity3d.com/ScriptReference/AI.NavMeshAgent.html} component, which supports the robot's navigation to the specified destination with automatic obstacle avoidance in the test scene. The virtual robot has three cameras. One of the cameras is a simulation of a surveillance camera mounted on the robot, which can see all the items in the scene, although the distant items are not yet detected by LiDAR. Two of these camera are set up in such a way that they can only see the area detected by the robot's LiDAR remote sensor. Each camera captures what it sees and modifies the bound image bound in real time. The four operation modes described later all use the camera viewport as a monitoring screen by rendering the camera viewport on UI canvas.
-
-
-\section{Interaction techniques}
-This system has 4 different approaches to control the robot. Each mode has its own distinctive features: 
-
-\begin{enumerate}
-\item In Handle Mode the user will send control commands directly using the motion controller. 
-\item In Lab Mode a simulated lab is constructed in the VR environment and the user will use virtual buttons in the lab to control the rescue robot. 
-\item In Remote Mode the user can set the driving destination directly. 
-\item In UI Mode the user has a virtual menu and sends commands via rays from the motion controller.
-\end{enumerate}
-
-In order to improve the reusability of the code and to facilitate the management of subsequent development, the classes that manage the interaction actions of each mode implement the same interface. A graphical representation of the system structure is given in the UML activity diagram in Fig.\ref{fig:uml}.
-
-\begin{figure}[htbp]
-    \centering
-    \includegraphics[width=\textwidth]{graphics/uml.png}
-    \caption{UML Class diagram for the main structure of the system}
-    \label{fig:uml}
-\end{figure}
-
-\subsection{Handle Mode}
-In this mode, the user is controlling the robot's movement directly through the motion controller in the right hand. The touch pad of the motion controller determines the direction of rotation of the robot. The user can control the robot's driving speed by pulling the Trigger button. Fig.\ref{fig:htc} shows how to get the values from the HTC motion controller. The robot rotation direction will read the value of the touchpad X-axis. The range of values is $[-1,1]$. Forward speed reads the Trigger button passed in as a variable of type SteamVR\_Action\_Single, and the range of the variable is $[0,1]$. With the right-hand menu button, the surveillance screen around the robot can be turned on or off. The monitor window can be adjusted to a suitable position by dragging and rotating it. In the literature dealing with VR and human-computer collaboration, many researchers have used a similar operational approach. Therefore, as a widely used, and in a sense default operation approach, this mode was designed and became one of the proposed operation modes.
-
-\begin{figure}[htbp]
-    \centering
-	\includegraphics[height=10cm]{graphics/htc.png}
-	\caption{HTC handle illustration.}
-	\label{fig:htc}
-\end{figure}
-
-\subsection{Lab Mode}
-The original intention of designing this mode is that there is a part of the literature where the immersive human-robot collaborative framework are used to train operators how to operate the robot, avoiding risks and saving learning costs or directly as a platform for operating the robot \cite{Perez:2019ub}\cite{Matsas:2017aa}. Therefore, in this mode, a virtual laboratory environment is constructed, in which simulated buttons, controllers, and monitoring equipment are placed. The laboratory consists of two parts. The first part is the monitoring equipment: the monitoring screen is enlarged and placed at the front of the lab as a huge display. The second part is the operating console in the center of the laboratory, which can be moved by the user as desired. The user can use the buttons on the right side to lock the robot or let it walk forward automatically. In the middle of the console are two operating joysticks that determine the robot's forward motion and rotation respectively. The part that involves virtual joystick movement and button effects uses an open source github project VRtwix\footnote{https://github.com/rav3dev/vrtwix}. With the sliding stick on the left, the user can edit the speed of the robot's forward movement and rotation.
-
-\subsection{Remote Mode}
-In this mode, the user can set the driving target point directly or control the robot by picking up the remote control that is placed on the toolbar. The target point is set by the ray emitted by the right motion controller. This process is similar to setting a teleportation point. After the target point is set, a square representing the destination is shown in the scene, and the robot will automatically travel to the set destination. The entire driving process uses the NavMeshAgent component and is therefore capable of automatic obstacle avoidance.
-By clicking on the menu button, a movable toolbar is opened with a remote control and a monitoring device. The remote control is a safety precaution in case the automatic navigation fails to navigate to the target point properly. The user can adjust the direction of the robot's travel by using the remote control. The pickup and auto-release parts use the ItemPackage component available in the SteamVR plugin.
-
-
-
-\subsection{UI Mode}
-The virtual menu is also an interaction method that is often used in VR, so this mode is proposed. In this mode, the user must interact with the virtual menu using the ray emitted by the right motion controller. The virtual menu is set up with buttons for the direction of movement, speed controller, and buttons to open and close the monitor screen. In addition to this, an additional follow function is added to the menu, allowing the robot to follow the user's position in the virtual world. This is intended to let the user concentrate on observing the rendered VR environment. Also, having a real robot follow the user's location in the virtual world is a novel, unique human-machine integration mode in VR. The robot's automatic navigation uses the NavMeshAgent.
-
-
-\section{Test Scene}
-In order to simulate the use of rescue robots in disaster scenarios, the test scenes were built to mimic the post-disaster urban environment as much as possible. The POLYGON Apocalypse \footnote{https://assetstore.unity.com/packages/3d/environments/urban/polygon-apocalypse-low-poly-3d-art-by-synty-154193}, available on the Unity Asset Store, is a low poly asset pack with a large number of models of buildings, streets, vehicles, etc. Using this resource pack as a base, additional collision bodies of the appropriate size were manually added to each building and obstacle after the pack was imported, which was needed to help track the robot's driving crash in subsequent tests.
-
-Considering that there are four modes of operation to be tested, four scenes with similar complexity, similar composition of buildings but different road conditions and placement of buildings were constructed. The similarity in complexity of the scenes ensures that the difficulty of the four tests is basically identical. The different scene setups ensure that the scene information learned by the user after one test will not make him understand the next test scene and thus affect the accuracy of the test data. 
-
-The entire scene is initially invisible, and the visibility of each objects in the test scene is gradually updated as the robot drives along. Ten interactable sufferer characters were placed in each test scene. The place of placement can be next to the car, the house side and some other reasonable places.

Thesis_LaTeX/chapters/introduction.tex

@@ -1,30 +0,0 @@
-\chapter{Introduction}
-
-In recent years, natural disasters such as earthquakes, tsunamis and potential nuclear, chemical, biological and explosives have seriously threatened the safety of human life and property. While the number of various disasters has increased, their severity, diversity and complexity have also gradually increased. The 72h after a disaster is the golden rescue time, but the unstructured environment of the disaster site makes it difficult for rescuers to work quickly, efficiently and safely.
-
-Rescue robots have the advantages of high mobility and handling breaking capacity, can work continuously to improve the efficiency of search and rescue, and can achieve the detection of graph, sound, gas and temperature within the ruins by carrying a variety of sensors, etc.
-Moreover, the robot rescue can assist or replace the rescuers to avoid the injuries caused by the secondary collapse and reduce the risk of rescuers. Therefore, rescue robots have become an important development direction.
-
-In fact, rescue robots have been put to use in a number of disaster scenarios. The Center for Robot-Assisted Search and Rescue (CRASAR) used rescue robots for Urban Search and Rescue (USAR) task during the World Trade Center collapse in 2001 \cite{Casper:2003tk} and has employed rescue robots at multiple disaster sites in the years since to assist in finding survivors, inspecting buildings and scouting the site environment etc \cite{Murphy:2012th}. Anchor Diver III was utilized as underwater support to search for bodies drowned at sea after the 2011 Tohoku Earthquake and Tsunami \cite{Huang:2011wq}.
-
-Considering the training time and space constraints for rescuers \cite{Murphy:2004wl}, and the goal of efficiency and fluency collaboration \cite{10.1145/1228716.1228718}, the appropriate human-robot interaction approach deserves to be investigated. Some of the existing human-computer interaction methods are Android software \cite{Sarkar:2017tt} \cite{Faisal:2019uu}, gesture recognition\cite{Sousa:2017tn} \cite{10.1145/2157689.2157818} \cite{Nagi:2014vu}, facial voice recognition \cite{Pourmehr:2013ta}, adopting eye movements \cite{Ma:2015wu}, Augmented Reality(AR)\cite{SOARES20151656} and Virtual Reality(VR), etc.
-
-% VR and robot
-Among them, VR has gained a lot of attention due to its immersion and the interaction method that can be changed virtually. VR is no longer a new word. With the development of technology in recent years, VR devices are gradually becoming more accessible to users. With the improvement of hardware devices, the new generation of VR headsets have higher resolution and wider field of view. And in terms of handle positioning, with the development of computer vision in the past few years, VR devices can now use only the four cameras mounted on the VR headset to achieve accurate spatial positioning, and support hand tracking, accurately capturing every movement of hand joints. While VR are often considered entertainment devices, VR brings more than that. It plays an important role in many fields such as entertainment, training, education and medical care.
-
-The use of VR in human-computer collaboration also has the potential. In terms of reliability, VR is reliable as a novel alternative to human-robot interaction. The interaction tasks that users can accomplish with VR devices do not differ significantly from those using real operating systems\cite{Villani:2018ub}. In terms of user experience and operational efficiency, VR displays can provide users with stereo viewing cues, which makes collaborative human-robot interaction tasks in certain situations more efficient and performance better \cite{Liu:2017tw}. A novel VR-based practical system for immersive robot teleoperation and scene exploration can improve the degree of immersion and situation awareness for the precise navigation of the robot as well as the interactive measurement of objects within the scene. In contrast, this level of immersion and interaction cannot be reached with video-only systems \cite{Stotko:2019ud}.
-
-However, there remains a need to explore human-computer interaction patterns and improve the level of human-computer integration\cite{Wang:2017uy}. Intuitive and easy-to-use interaction patterns can enable the user to explore the environment as intentionally as possible and improve the efficiency of search and rescue. The appropriate interaction method should cause less mental and physical exhaustion, which also extends the length of an operation, making it less necessary for the user to frequently exit the VR environment for rest.
-
-% What I have done (overview)
-For this purpose, this paper presents a preliminary VR-based system that simulates in real-time the cooperation between ground rescue robots and humans with four different operation modes and corresponding test scenes, which imitate a post-disaster city. The test scene simulates a robot collaborating with Unity to construct a virtual 3D scene. The robot has a simulated LiDAR remote sensor, which makes the display of the scene dependent on the robot's movement. In order to find an interaction approach that is as intuitive and low mental fatigue as possible, a user study was executed after the development was completed.
-
-
-% Paper Architecture
-In Chapter \ref{related}, related work involving the integration of VR and human-computer interaction is presented.
-Chapter \ref{implementation} provides details of the purposed system, including the techniques used for the different interaction modes and the setup for test scenes.
-Chapter \ref{evaluate} explains the design and procedure of user study.
-Chapter \ref{result} presents the results of the user study and analyzes the advantages and disadvantages of the different modes of operation and the directions for improvement.
-Finally, in Chapter \ref{conclusion}, conclusions and future work are summarized.
-
-

Thesis_LaTeX/chapters/related_work.tex

@@ -1,13 +0,0 @@
-\chapter{Related Work}
-\label{related}
-
-In this chapter, some research on the integration of VR and human-computer interaction will be discussed. The relevant literature and its contributions will be briefly presented. The topic of VR and human-computer integration is an open research with many kinds of focus perspectives.
-
-Robotic manipulation platforms combined with virtual worlds have several application scenarios. It can be used, for example, to train operators or to collaborate directly with real robots. Elias Matsas et al. \cite{Matsas:2017aa} provided a VR-based training system using hand recognition. Kinect cameras are used to capture the user's positions and motions, and virtual user models are constructed in the VR environment based on the collected data to operate robots as well as virtual objects, such as buttons. Users will learn how to operate the robot in a VR environment. The framework of VR purposed by Luis Pérez et al. \cite{Perez:2019ub} is applied to train operators to learn to control the robot. Since the environment does not need to change in real time, but rather needs to realistically recreate the factory scene, the VR scene here is not reconstructed in a way that it is captured and rendered in real time. Rather, a highly accurate 3D environment was reconstructed in advance using Blender after being captured with a 3D scanner.
-
-Building 3D scenes in virtual worlds based on information collected by robots is also a research highlight. Wang, et al. \cite{Wang:2017uy} were concerned with the visualization of the rescue robot and its surroundings in a virtual environment. The proposed human-robot interaction system uses incremental 3D-NDT map to render the robot's surroundings in real time. The user can view the robot's surroundings in a first-person view through the HTC-Vive and send control commands through the handle's arrow keys. A novel VR-based practical system is presented in \cite{Stotko:2019ud} consisting of distributed systems to reconstruct 3D scene. The data collected by the robot is first transmitted to the client responsible for reconstructing the scene. After the client has constructed the 3d scene, the set of actively reconstructed visible voxel blocks is sent to the server responsible for communication, which has a robot-based live telepresence and teleoperation system. This server will then broadcast the data back to the client used by the operator, thus enabling an immersive visualization of the robot within the scene.
-
-Others are more concerned about the manipulation of the robotic arm mounted on the robot. Moniri et al. \cite{Moniri:2016ud} provided a VR-based operating model for the robotic arm. The user wearing a headset can see a simulated 3D scene at the robot's end and send pickup commands to the remote robot by clicking on the target object with the mouse. The system proposed by Ostanin et al. \cite{Ostanin:2020uo} is also worth mentioning. Although their proposed system for operating a robotic arm is based on mixed reality(MR), the article is highly relevant to this paper, considering the correlation of MR and VR and the proposed system detailing the combination of ROS and robotics. In their system, the ROS Kinect was used as middleware and was responsible for communicating with the robot and the Unity side. The user can control the movement of the robot arm by selecting predefined options in the menu. In addition, the orbit and target points of the robot arm can be set by clicking on a hologram with a series of control points.
-
-%Summary
-To summarize, a large number of authors have studied methods and tools for VR-based human-robot collaboration and teleoperation. However, very few studies focus on the approaches for human-robot interaction.

Thesis_LaTeX/pdfa.xmpi

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User Study/Procedure.md

@@ -1,9 +1,28 @@
+## List
+
+*Alle Informationen, die ich haben sollte, sowie die Daten, sobald der Test abgeschlossen ist.*
+
+**Geplannt: 8 Probanden**
+
++ [ ]  8 x Einverständniserklärung (Handgeschrieben/gescannt)
++ [ ]  8 x Google Form
++ [ ]  8 x NASA TLX
++ [ ]  8 x Test Result(collision/driving time.....)
+	- ![image-20210707121820853](https://raw.githubusercontent.com/elaineJJY/Storage/main/Picture/20210707121820.png)
++ [ ]  Genügend Fotos: Fotos von Tests und Unity zum Einfügen in die Abschlussarbeit.
+	- Fotos von Probanden beim Testen 1-2 Fotos
+	- Bilder der VR-Perspektive: mehrere
+
+ 
+
+
+
 ## Procedure
 
 ##### Demographics and Introduction 
 
 > 1. inform the purpose and collected data
-> 2. basic demographics(google form)
+> 2. basic demographics(google form), Einverständniserklärung(schreiben)
 > 3. introduce 4 mode: verbal + show motion controller
 
 
@@ -30,14 +49,14 @@
 > 		- try to rescue 1-2 victims
 > 	2. enter test scene
 > 	3. -testing- 
-> 	4. Fill out the questionnaire: google form + TLX
+> 	4. Google form + TLX
 >
 > 2. summary part of google form: 
 > 	- like/dislike most
 > 	- reason 
-> 	- feedback
+> 	- other feedback(Testers can express their opinions as they wish)
+
 
 
 
-# Feedback
 

User Study/TLX/standard_deviation.csv

@@ -0,0 +1,5 @@
+,conditon,mental-demand,physical-demand,temporal-demand,performance,effort,frustration,total
+0,Handle,0.0,0.0,0.0,0.0,0.0,0.0,20.497289793748074
+1,Lab,0.0,0.0,0.0,0.0,0.0,0.0,20.497289793748074
+2,Remote,0.0,0.0,0.0,0.0,0.0,0.0,20.497289793748074
+3,UI,0.0,0.0,0.0,0.0,0.0,0.0,18.633899812498246

User Study/TLX/statistic.py

@@ -6,20 +6,107 @@ import time
 import numpy as np
 import seaborn as sns
 
+import math
 path = os.getcwd()
 
-def draw(filename):
+def get_average(records):
+    """
+    平均值
+    """
+    return sum(records) / len(records)
+
+
+def get_variance(records):
+    """
+    方差 反映一个数据集的离散程度
+    """
+    average = get_average(records)
+    return sum([(x - average) ** 2 for x in records]) / len(records)
+
+
+def get_standard_deviation(records):
+    """
+    标准差 == 均方差 反映一个数据集的离散程度
+    """
+    variance = get_variance(records)
+    return math.sqrt(variance)
+
+
+def get_rms(records):
+    """
+    均方根值 反映的是有效值而不是平均值
+    """
+    return math.sqrt(sum([x ** 2 for x in records]) / len(records))
+
+
+def get_mse(records_real, records_predict):
+    """
+    均方误差 估计值与真值 偏差
+    """
+    if len(records_real) == len(records_predict):
+        return sum([(x - y) ** 2 for x, y in zip(records_real, records_predict)]) / len(records_real)
+    else:
+        return None
+
+
+def get_rmse(records_real, records_predict):
+    """
+    均方根误差：是均方误差的算术平方根
+    """
+    mse = get_mse(records_real, records_predict)
+    if mse:
+        return math.sqrt(mse)
+    else:
+        return None
+
+
+def get_mae(records_real, records_predict):
+    """
+    平均绝对误差
+    """
+    if len(records_real) == len(records_predict):
+        return sum([abs(x - y) for x, y in zip(records_real, records_predict)]) / len(records_real)
+    else:
+        return None
+
+
+def writeSDCSV(filename):
+    file = pd.read_csv("Mean.csv")
     conditions = file['condition']
-    result = file[filename]
+    
+    dict = {}
+    dict['conditon'] = conditions
+    for scale in scales:
+        temp = []
+        for condition in conditions:
+            col = df_merged.groupby('condition').get_group(condition)
+            col = col[scale]
+            temp.append(get_standard_deviation(col))
+        dict[scale] = temp
+    df = pd.DataFrame(dict) 
+    df.to_csv(filename)
+
+
+
+def draw(scale):
+    conditions = file['condition']
+
+    result = file[scale]
     plt.figure(figsize=(9, 6), dpi=100)
-    plt.bar(conditions, result, width=0.35, color=colors,alpha=a)
-    plt.title(filename)
+
+    sd = pd.read_csv(SD)
+    std_err = sd[scale]
+    error_params=dict(elinewidth=1,ecolor='black',capsize=5)
+    plt.bar(conditions, result, width=0.35, color=colors,alpha=a,yerr=std_err,error_kw=error_params)
+
+    plt.title(scale,fontsize=15)
     plt.ylabel('score')
     plt.grid(alpha=0, linestyle=':')
-    plt.savefig(filename + ".jpg", dpi=300)
+    plt.savefig(scale, dpi=300)
     #plt.show()
 
 def drawTogether():
+    scales = ["mental-demand","physical-demand","temporal-demand","performance", "effort","frustration"]
     plt.figure(figsize=(15,7))
     x = np.arange(len(scales))
     total_width, n = 0.8, 4
@@ -32,7 +119,7 @@ def drawTogether():
         plt.bar(x+width*(i-1),result,width=width,color=colors[i],label=file.iloc[i]["condition"],alpha=a)
 
     plt.legend()
-    
+    plt.title("TLX Average",fontsize=15)
     plt.xticks(x+width/2,scales)
     #plt.show()
     
@@ -40,6 +127,7 @@ def drawTogether():
 
 
 
+
 # Merge all the .csv file start with "HectorVR", and 
 all_files = glob.glob(os.path.join(path, "HectorVR*.csv"))
 df_from_each_file = (pd.read_csv(f, sep=',') for f in all_files)
@@ -50,12 +138,13 @@ df_merged.to_csv( "Merged.csv")
 
 # save the results in csv
 file = df_merged.groupby(["condition"]).mean() 
-file.to_csv( "Mean.csv")
-
-
+file.to_csv("Mean.csv")
+scales = ["mental-demand","physical-demand","temporal-demand","performance", "effort","frustration","total"]
+SD = "standard_deviation.csv"
+writeSDCSV(SD)
 
+        
 file = pd.read_csv("Mean.csv")
-scales = ["mental-demand","physical-demand","temporal-demand","performance", "effort","frustration","total"]
 colors = sns.color_palette()
 a = 0.6
 for scale in scales:

User Study/TestResult/0.csv

@@ -1,9 +0,0 @@
-participant,condition,Remained Time,Collision,Drive Distance,Total driving time,Adverage speed,Rescued Target,Remained Visible Target,Remained Unvisible Target,time
-0,Handle,0,0,0.08204317,0,0,0,0,10,2021/7/3 20:41
-0,Lab,0,0,0.08204317,0,0,0,0,10,2021/7/3 20:41
-0,Remote,0,0,0.08204317,0,0,0,0,10,2021/7/3 20:41
-0,UI,0,0,0.08204317,0,0,0,0,10,2021/7/3 20:41
-,,,,,,,,,,
-,,,,,,,,,,
-,,,,,,,,,,
-,,,,,,,,,,

User Study/TestResult/Mean.csv

@@ -1,6 +0,0 @@
-condition,Unnamed: 0,Unnamed: 0.1,Unnamed: 0.1.1,participant,Remained Time,Collision,Drive Distance,Total driving time,Adverage speed,Rescued Target,Remained Visible Target,Remained Unvisible Target,Unnamed: 11
-Handle,4.5,1.0,,0.0,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,
-Lab,5.5,2.0,,0.0,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,
-Remote,6.5,3.0,,0.0,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,
-Simulation,4.916666666666667,1.25,0.0,0.0,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,
-UI,7.75,4.0,,0.0,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,

User Study/TestResult/Merged.csv

@@ -1,25 +0,0 @@
-,Unnamed: 0,Unnamed: 0.1,Unnamed: 0.1.1,participant,condition,Remained Time,Collision,Drive Distance,Total driving time,Adverage speed,Rescued Target,Remained Visible Target,Remained Unvisible Target,time,Unnamed: 11
-0,0.0,0.0,0.0,0.0,Simulation,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/07/03 20:41,
-1,1.0,1.0,,0.0,Handle,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-2,2.0,2.0,,0.0,Lab,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-3,3.0,3.0,,0.0,Remote,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-4,4.0,4.0,,0.0,UI,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-5,5.0,5.0,,0.0,Simulation,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-6,6.0,,,0.0,Handle,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-7,7.0,,,0.0,Lab,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-8,8.0,,,0.0,Remote,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-9,9.0,,,0.0,UI,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-10,10.0,,,0.0,Handle,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-11,11.0,,,0.0,Lab,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-12,12.0,,,0.0,Remote,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-13,13.0,0.0,,0.0,Simulation,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-14,14.0,,,0.0,UI,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-15,,,,0.0,Handle,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-16,,,,0.0,Lab,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-17,,,,0.0,Remote,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-18,,,,0.0,UI,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,2021/7/3 20:41,
-19,1.0,,,0.0,Handle,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-20,2.0,,,0.0,Lab,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-21,3.0,,,0.0,Remote,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-22,1.6666666666666667,0.0,,0.0,Simulation,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,
-23,4.0,,,0.0,UI,0.0,0.0,0.08204317,0.0,0.0,0.0,0.0,10.0,,

User Study/TestResult/statistic.py

@@ -5,38 +5,139 @@ import matplotlib.pyplot as plt
 import time
 import numpy as np
 import seaborn as sns
+import math
 
 path = os.getcwd()
 
+def get_average(records):
+    return sum(records) / len(records)
+
+
+def get_variance(records):
+    average = get_average(records)
+    return sum([(x - average) ** 2 for x in records]) / len(records)
+
+
+def get_standard_deviation(records):
+    variance = get_variance(records)
+    return math.sqrt(variance)
+
+
+def get_rms(records):
+    return math.sqrt(sum([x ** 2 for x in records]) / len(records))
+
+
+def get_mse(records_real, records_predict):
+    if len(records_real) == len(records_predict):
+        return sum([(x - y) ** 2 for x, y in zip(records_real, records_predict)]) / len(records_real)
+    else:
+        return None
+
+
+def get_rmse(records_real, records_predict):
+    mse = get_mse(records_real, records_predict)
+    if mse:
+        return math.sqrt(mse)
+    else:
+        return None
+
+
+def get_mae(records_real, records_predict):
+    if len(records_real) == len(records_predict):
+        return sum([abs(x - y) for x, y in zip(records_real, records_predict)]) / len(records_real)
+    else:
+        return None
+
+
+def writeSDCSV(filename):
+    file = pd.read_csv("Mean.csv")
+    conditions = file['condition']
+    
+    dict = {}
+    dict['conditon'] = conditions
+    for scale in scales:
+        temp = []
+        for condition in conditions:
+            col = df_merged.groupby('condition').get_group(condition)
+            col = col[scale]
+            temp.append(get_standard_deviation(col))
+        dict[scale] = temp
+    df = pd.DataFrame(dict) 
+    df.to_csv(filename)
+
 def draw(filename):
     conditions = file['condition']
     result = file[filename]
     plt.figure(figsize=(9, 6), dpi=100)
     plt.bar(conditions, result, width=0.35, color=colors,alpha=a)
-    plt.title(filename)
+    plt.title(filename,fontsize=20)
     plt.ylabel('score')
     plt.grid(alpha=0, linestyle=':')
     plt.savefig(filename + ".jpg", dpi=300)
     #plt.show()
 
-def drawTogether():
-    plt.figure(figsize=(20,7))
+def drawRobotPerformance():
+    plt.figure(figsize=(20,8))
+    conditions = file['condition']
+    
+    sd = pd.read_csv(SD)
+    
+    error_params=dict(elinewidth=1,ecolor='black',capsize=5)
+    
+    plt.suptitle("Robot Performance",fontsize=20)
+
+    plt.subplot(221)
+    plt.title("Collision",fontsize=15)
+    std_err = sd["Collision"]
+    plt.ylabel('Times')
+    plt.bar(conditions, file["Collision"], width=0.35, color=colors,alpha=a,yerr=std_err,error_kw=error_params)
+    
+    plt.subplot(222)
+    plt.title("Drive Distance",fontsize=15)
+    std_err = sd["Drive Distance"]
+    plt.ylabel('Distance(m)')
+    plt.bar(conditions, file["Drive Distance"], width=0.35, color=colors,alpha=a,yerr=std_err,error_kw=error_params)
+    
+    plt.subplot(223)
+    plt.title("Total driving time",fontsize=15)
+    std_err = sd["Total driving time"]
+    plt.ylabel('Time(s)')
+    plt.bar(conditions, file["Total driving time"], width=0.35, color=colors,alpha=a,yerr=std_err,error_kw=error_params)
+
+    plt.subplot(224)
+    plt.title("Adverage speed",fontsize=15)
+    std_err = sd["Adverage speed"]
+    plt.ylabel('Speed(m/s)')
+    plt.bar(conditions, file["Adverage speed"], width=0.35, color=colors,alpha=a,yerr=std_err,error_kw=error_params)
+    
+    plt.savefig("Robot Performance",dpi=300)
+
+def drawRescue():
+    plt.figure(figsize =(15,7))
     x = np.arange(len(scales))
     total_width, n = 0.8, 4
     width = total_width / n
-    
+    sd = pd.read_csv(SD)
+    error_params=dict(elinewidth=1,ecolor='black',capsize=5)
+
+    # set range
+    plt.ylim(0, 10)
+
     for i in range(0,4):
         result = []
+        std_err = []
         for scale in scales:
             result.append(file.iloc[i][scale])
-        plt.bar(x+width*(i-1),result,width=width,color=colors[i],label=file.iloc[i]["condition"],alpha=a)
+            std_err.append(sd.iloc[i][scale])
+        plt.bar(x+width*(i-1),result,width=width,color=colors[i],label=file.iloc[i]["condition"],alpha=a,yerr=std_err,error_kw=error_params)
 
     plt.legend()
-    
+    plt.title("Rescue situation",fontsize=15)
     plt.xticks(x+width/2,scales)
+    plt.ylabel('Person')
     #plt.show()
     
-    plt.savefig("summary.jpg",dpi=300)
+    plt.savefig("Rescue situation",dpi=300)
 
 
 
@@ -46,20 +147,37 @@ df_from_each_file = (pd.read_csv(f, sep=',') for f in all_files)
 df_merged = pd.concat(df_from_each_file, ignore_index=True)
 
 # Save the file to Merged.csv in the same folder
-df_merged.to_csv( "Merged.csv")
+# df_merged.to_csv( "Merged.csv")
 
 # save the results in csv
 file = df_merged.groupby(["condition"]).mean() 
 file.to_csv( "Mean.csv")
 
+scales = ["Collision","Drive Distance","Total driving time","Adverage speed","Rescued Target", "Remained Visible Target","Remained Unvisible Target"]
+SD = "standard_deviation.csv"
+writeSDCSV(SD)
 
 file = pd.read_csv("Mean.csv")
-scales = ["Collision","Drive Distance","Total driving time","Adverage speed","Rescued Target", "Remained Visible Target","Remained Unvisible Target"]
+
+
+
+
 colors = sns.color_palette()
 a = 0.6
-for scale in scales:
-    draw(scale)
 
-drawTogether()
+
+# for scale in scales:
+#     draw(scale)
+
+
+scales = ["Rescued Target", "Remained Visible Target","Remained Unvisible Target"]
+drawRescue()
+
+
+scales = ["Collision","Drive Distance","Total driving time","Adverage speed"]
+drawRobotPerformance()
+
+os.remove("Mean.csv")
+os.remove(SD)