update thesis

Thesis.md

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+# Abstract
+
+
+
+# Introduction
+
+> ##### Rescue Robot
+>
+> - What is rescue robots & some use cases of rescue robots
+> - Existed control methods of robots
+
+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
+>
+> ###### What is VR
+>
+> 
+>
+> ###### VR Advantage
+>
+> - general advantages
+>- advantage regarding robots
+> 
+>###### VR limatation and challenges
+> 
+> - disadvantages
+>- challenges:  improve the level of human-computer integration.
+> - There remains a need to ...
+
+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}.
+
+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)
+>
+> ###### Unity Project
+>
+> - main goal
+> - 4 modes
+>
+> - test scenes
+>
+> 
+>
+> ###### User Study
+>
+> - Testing process
+>
+> - General content of the survey
+
+For this purpose, this paper presents a preliminary VR-based system for the simulation of ground rescue robots with four different modes of operation and corresponding test scenes imitating a post-disaster city. The test scene simulates a robot collaborating with Unity to construct a virtual 3D scene. The robot has a simulated radar, 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
+
+Chapter \ref{*i*mplementation} provides details of the purposed system, including the techniques used for the different interaction modes and the structure of the test scenes.
+Chapter \ref{evaluate} will talk about the design and process 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.
+
+
+
+# (Related Work)
+
+
+
+# Implementation
+
+% summary
+
+In this chapter, the tools and techniques used in building this human-computer collaborative VR-based system are described. The focus will be on interaction techniques for different modes of operation. In addition, the setup of the robot and the construction of test scenes will also be covered in this chapter.
+
+
+
+## 1. Overview
+
+> - the purpose of the unity project
+> - Components of the project: 4 operation modes & test Scene
+
+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 be used 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 modes of operation and a corresponding test environment 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 picture seen by the user depends on the direction of the robot's movement and the trajectory it travels through.
+
+
+
+## 2. System Architecture
+
+> - Compurter Information: CPU,GPU
+>
+> - HTC Vive
+>
+> - ROS and Robot
+>
+> - Unity VR engine & SteamVR
+>
+> 
+
+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.
+
+
+
+## 3. Robot
+
+> camera
+>
+> radar
+>
+> layer change => collider
+>
+> information
+
+To simulate the process of a robot using a probe camera to detect the real environment and synchronise it to Unity, a conical 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. Each camera is set up in such a way that it can only see the area detected by the robot's radar and change the image bound to it in real time. The four operations described later all use the camera viewport as a monitoring screen by rendering the camera viewport on UI canvas.
+
+
+
+## 4. Interaction techniques
+
+This system has 4 different approaches to control the robot. Each mode has its own distinctive features: 
+
+```latex
+\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}.
+
+```latex
+\begin{figure}[h]
+    \centering
+    \includegraphics[height=12cm]{graphics/uml.png}
+    \caption{UML Class diagram for the main structure of the system}
+    \label{fig:uml}
+\end{figure}
+```
+
+
+
+##### 1. Handle Mode
+
+> - main feature
+> - functions: how to move robot, camera, map...
+> - photo
+
+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. 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.
+
+```latex
+\begin{figure}[h]
+    \centering
+    \includegraphics[height=12cm]{graphics/htc controller.png}
+    \caption{HTC handle illustration. 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 $[0,1]$.}
+    \label{fig:uml}
+\end{figure}
+```
+
+
+
+##### 2. Lab Mode
+
+> - main feature
+> - functions: how to move robot, button, speed editor, auto drive 3 monitor....
+> - photo
+
+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:2017vz}. 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.
+
+##### 3. Remote Mode
+
+> - main feature
+> - functions: how to move robot: target(Pseudocode?) or virtural joystick. ItemPackage in Steam
+> - photo
+
+
+
+##### 4. UI Mode
+
+> - main feature
+> - functions: introcude here compositions of the UI menu
+> - photo
+
+
+
+
+
+## 5. Test Scene
+
+> - goal of the project: rescue robots  => destroyed city,
+> - environment:  destroyed city & Collider for test  [photo] 
+> - radar layer
+
+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.
+
+
+
+# Evaluation of User Experience
+
+> ##### main goal of test (Overview)
+>
+> - Evaluate user experience and robot performance in different operating modes
+
+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 a questionnaire after the test corresponding to each mode of operation.
+
+
+
+## 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. Besides the number of victims rescued, the number of victims who were already visible but neglected is also important data. 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 of operation and were asked to select their favorite and least favorite modes of operation.
+
+
+
+## Procedure
+
+##### Demographics and Introduction 
+
+> 1. inform the purpose and collected data
+> 2. basic demographics(google form)
+> 3. introduce 4 mode: verbal + show motion controller
+
+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.
+
+
+
+##### Entering the world of VR
+
+> 1. wear the headset
+> 2. familiar with the menu : switch & select mode(practice) & close
+> 3. change position : teleport & raise or lower
+> 4. rescue 1 victim
+
+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 selecting options of the menu, as this involves switching between different modes and entering the test scenes. Then participants would use 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.
+
+
+
+##### Practice and evaluation of modes
+
+> 1. `foreach Mode`:
+> 	1. enter mode(practice)
+> 	2. try to move the robot
+> 	3. try to rescue 1-2 victims
+> 	4. enter test scene
+> 	5. -testing- 
+> 	6. Fill out the questionnaire: google form + TLX
+>
+> 2. summary part of google form: 
+> 	- like/dislike most
+> 	- reason 
+> 	- feedback
+
+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 participant first switched to the mode of operation to be tested and manipulated the robot to move in that mode. 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.
+
+
+
+# Results
+
+> ##### results and discussion
+>
+> - Difficulty of learning how to operate
+> - Efficiency of operating robots (time)
+> - Number of robot collisions (collision)
+> - [Table: Test results]
+
+
+
+
+
+# Conclusion
+
+> ##### What I have done (overview)
+>
+> ###### Unity Project
+>
+> - 4 operation modes
+>
+> - test scenes
+>
+> 
+>
+> ###### User Study
+>
+> - compared and evaluated .....
+> - results:  .......
+
+
+
+> ##### Future work
+>
+> - communication with ROS
+> - Real Robots
+> - Use real scene: reconstructed 3D model based on the daten from robot sensors

Thesis_LaTeX/BibTexDatei.bib

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+%% This BibTeX bibliography file was created using BibDesk.
+%% https://bibdesk.sourceforge.io/
+
+%% Created for 夜未央 at 2021-07-01 15:35:33 +0200 
+
+
+%% Saved with string encoding Unicode (UTF-8) 
+
+
+
+@book{Stotko:2019ud,
+	author = {Stotko, Patrick and Krumpen, Stefan and Schwarz, Max and Lenz, Christian and Behnke, Sven and Klein, Reinhard and Weinmann, Michael},
+	date = {2019/11/01},
+	date-added = {2021-07-01 15:35:17 +0200},
+	date-modified = {2021-07-01 15:35:17 +0200},
+	doi = {10.1109/IROS40897.2019.8968598},
+	month = {11},
+	title = {A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot},
+	ty = {BOOK},
+	year = {2019},
+	Bdsk-Url-1 = {https://doi.org/10.1109/IROS40897.2019.8968598}}
+
+@inproceedings{Xuhui:2017vj,
+	author = {Z. Xuhui and D. Runlin and L. Yongwei},
+	booktitle = {2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)},
+	date-added = {2021-07-01 15:33:51 +0200},
+	date-modified = {2021-07-01 15:33:51 +0200},
+	doi = {10.1109/URAI.2017.7992849},
+	journal = {2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)},
+	journal1 = {2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)},
+	pages = {863--867},
+	title = {VR-based remote control system for rescue detection robot in coal mine},
+	ty = {CONF},
+	year = {2017},
+	year1 = {28 June-1 July 2017},
+	Bdsk-Url-1 = {https://doi.org/10.1109/URAI.2017.7992849}}
+
+@article{Perez:2019ub,
+	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.},
+	author = {P{\'e}rez, Luis and Diez, Eduardo and Usamentiaga, Rub{\'e}n and Garc{\'\i}a, Daniel F.},
+	da = {2019/08/01/},
+	date-added = {2021-07-01 14:24:52 +0200},
+	date-modified = {2021-07-01 14:24:52 +0200},
+	doi = {https://doi.org/10.1016/j.compind.2019.05.001},
+	isbn = {0166-3615},
+	journal = {Computers in Industry},
+	keywords = {Robots; Virtual reality; Human-machine interface; Virtual manufacturing; Industry 4.0},
+	pages = {114--120},
+	title = {Industrial robot control and operator training using virtual reality interfaces},
+	ty = {JOUR},
+	url = {https://www.sciencedirect.com/science/article/pii/S0166361518308546},
+	volume = {109},
+	year = {2019},
+	Bdsk-Url-1 = {https://www.sciencedirect.com/science/article/pii/S0166361518308546},
+	Bdsk-Url-2 = {https://doi.org/10.1016/j.compind.2019.05.001}}
+
+@inproceedings{Pourmehr:2013ta,
+	author = {S. Pourmehr and V. M. Monajjemi and R. Vaughan and G. Mori},
+	booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+	date-added = {2021-06-17 15:30:42 +0200},
+	date-modified = {2021-06-17 15:30:42 +0200},
+	doi = {10.1109/IROS.2013.6696344},
+	isbn = {2153-0866},
+	journal = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+	journal1 = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+	pages = {137--142},
+	title = {``You two! Take off!'': Creating, modifying and commanding groups of robots using face engagement and indirect speech in voice commands},
+	ty = {CONF},
+	year = {2013},
+	year1 = {3-7 Nov. 2013},
+	Bdsk-Url-1 = {https://doi.org/10.1109/IROS.2013.6696344}}
+
+@article{Ma:2015wu,
+	author = {J. Ma and Y. Zhang and A. Cichocki and F. Matsuno},
+	booktitle = {IEEE Transactions on Biomedical Engineering},
+	date-added = {2021-06-17 15:30:12 +0200},
+	date-modified = {2021-06-17 15:30:12 +0200},
+	doi = {10.1109/TBME.2014.2369483},
+	isbn = {1558-2531},
+	journal = {IEEE Transactions on Biomedical Engineering},
+	journal1 = {IEEE Transactions on Biomedical Engineering},
+	number = {3},
+	pages = {876--889},
+	title = {A Novel EOG/EEG Hybrid Human--Machine Interface Adopting Eye Movements and ERPs: Application to Robot Control},
+	ty = {JOUR},
+	vo = {62},
+	volume = {62},
+	year = {2015},
+	year1 = {March 2015},
+	Bdsk-Url-1 = {https://doi.org/10.1109/TBME.2014.2369483}}
+
+@article{Murphy:2004wl,
+	author = {R. R. Murphy},
+	booktitle = {IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)},
+	date-added = {2021-06-17 15:26:38 +0200},
+	date-modified = {2021-06-17 15:26:38 +0200},
+	doi = {10.1109/TSMCC.2004.826267},
+	isbn = {1558-2442},
+	journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)},
+	journal1 = {IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)},
+	number = {2},
+	pages = {138--153},
+	title = {Human-robot interaction in rescue robotics},
+	ty = {JOUR},
+	vo = {34},
+	volume = {34},
+	year = {2004},
+	year1 = {May 2004},
+	Bdsk-Url-1 = {https://doi.org/10.1109/TSMCC.2004.826267}}
+
+@inproceedings{10.1145/1228716.1228718,
+	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.},
+	address = {New York, NY, USA},
+	author = {Hoffman, Guy and Breazeal, Cynthia},
+	booktitle = {Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction},
+	date-added = {2021-06-17 15:25:46 +0200},
+	date-modified = {2021-06-17 15:25:46 +0200},
+	doi = {10.1145/1228716.1228718},
+	isbn = {9781595936172},
+	keywords = {fluency, teamwork, human-robot interaction, anticipatory action selection},
+	location = {Arlington, Virginia, USA},
+	numpages = {8},
+	pages = {1--8},
+	publisher = {Association for Computing Machinery},
+	series = {HRI '07},
+	title = {Effects of Anticipatory Action on Human-Robot Teamwork Efficiency, Fluency, and Perception of Team},
+	url = {https://doi.org/10.1145/1228716.1228718},
+	year = {2007},
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+
+@inproceedings{Faisal:2019uu,
+	author = {F. Faisal and S. A. Hossain},
+	booktitle = {2019 1st International Conference on Advances in Science, Engineering and Robotics Technology (ICASERT)},
+	date-added = {2021-06-17 12:36:35 +0200},
+	date-modified = {2021-06-17 12:36:35 +0200},
+	doi = {10.1109/ICASERT.2019.8934515},
+	journal = {2019 1st International Conference on Advances in Science, Engineering and Robotics Technology (ICASERT)},
+	journal1 = {2019 1st International Conference on Advances in Science, Engineering and Robotics Technology (ICASERT)},
+	pages = {1--6},
+	title = {DOORMOR: A Functional Prototype of a Manual Search and Rescue Robot},
+	ty = {CONF},
+	year = {2019},
+	year1 = {3-5 May 2019},
+	Bdsk-Url-1 = {https://doi.org/10.1109/ICASERT.2019.8934515}}
+
+@inproceedings{Nagi:2014vu,
+	author = {J. Nagi and A. Giusti and L. M. Gambardella and G. A. Di Caro},
+	booktitle = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+	date-added = {2021-06-17 12:01:53 +0200},
+	date-modified = {2021-06-17 12:01:53 +0200},
+	doi = {10.1109/IROS.2014.6943101},
+	isbn = {2153-0866},
+	journal = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+	journal1 = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+	pages = {3834--3841},
+	title = {Human-swarm interaction using spatial gestures},
+	ty = {CONF},
+	year = {2014},
+	year1 = {14-18 Sept. 2014},
+	Bdsk-Url-1 = {https://doi.org/10.1109/IROS.2014.6943101}}
+
+@inproceedings{10.1145/2157689.2157818,
+	address = {New York, NY, USA},
+	author = {Giusti, Alessandro and Nagi, Jawad and Gambardella, Luca M. and Bonardi, St\'{e}phane and Di Caro, Gianni A.},
+	booktitle = {Proceedings of the Seventh Annual ACM/IEEE International Conference on Human-Robot Interaction},
+	date-added = {2021-06-17 11:58:46 +0200},
+	date-modified = {2021-06-17 11:58:46 +0200},
+	doi = {10.1145/2157689.2157818},
+	isbn = {9781450310635},
+	keywords = {swarm robotics, gesture recognition, distributed consensus},
+	location = {Boston, Massachusetts, USA},
+	numpages = {2},
+	pages = {401--402},
+	publisher = {Association for Computing Machinery},
+	series = {HRI '12},
+	title = {Human-Swarm Interaction through Distributed Cooperative Gesture Recognition},
+	url = {https://doi.org/10.1145/2157689.2157818},
+	year = {2012},
+	Bdsk-Url-1 = {https://doi.org/10.1145/2157689.2157818}}
+
+@book{Sousa:2017tn,
+	author = {Sousa, Patrick and Esteves, Tiago and Campos, Daniel and Duarte, F{\'a}bio and Santos, Joana and Leao, Joao and Xavier, Jos{\'e} and Matos, Lu{\'\i}s and Camarneiro, Manuel and Penas, Marcelo and Miranda, Maria and Silva, Ricardo and Neves, Ant{\'o}nio and Lu{\'\i}s, Teixeira},
+	date = {2017/10/18},
+	date-added = {2021-06-17 11:49:35 +0200},
+	date-modified = {2021-06-17 11:49:35 +0200},
+	doi = {10.1007/978-3-319-68195-5{\_}76},
+	isbn = {978-3-319-68194-8},
+	journal = {Lecture Notes in Computational Vision and Biomechanics},
+	month = {10},
+	pages = {700--709},
+	title = {Human-Robot Interaction Based on Gestures for Service Robots},
+	ty = {BOOK},
+	volume = {27},
+	year = {2017},
+	Bdsk-Url-1 = {https://doi.org/10.1007/978-3-319-68195-5%7B%5C_%7D76}}
+
+@inproceedings{Sarkar:2017tt,
+	author = {S. Sarkar and A. Patil and A. Hartalkar and A. Wasekar},
+	booktitle = {2017 Second International Conference on Electrical, Computer and Communication Technologies (ICECCT)},
+	date-added = {2021-06-17 11:32:50 +0200},
+	date-modified = {2021-06-17 11:32:50 +0200},
+	doi = {10.1109/ICECCT.2017.8118044},
+	journal = {2017 Second International Conference on Electrical, Computer and Communication Technologies (ICECCT)},
+	journal1 = {2017 Second International Conference on Electrical, Computer and Communication Technologies (ICECCT)},
+	pages = {1--7},
+	title = {Earthquake rescue robot: A purview to life},
+	ty = {CONF},
+	year = {2017},
+	year1 = {22-24 Feb. 2017},
+	Bdsk-Url-1 = {https://doi.org/10.1109/ICECCT.2017.8118044}}
+
+@inproceedings{Huang:2011wq,
+	author = {Ya-Wen Huang and Y. Sasaki and Y. Harakawa and E. F. Fukushima and S. Hirose},
+	booktitle = {OCEANS'11 MTS/IEEE KONA},
+	date-added = {2021-06-16 19:57:14 +0200},
+	date-modified = {2021-06-16 19:57:14 +0200},
+	doi = {10.23919/OCEANS.2011.6107198},
+	isbn = {0197-7385},
+	journal = {OCEANS'11 MTS/IEEE KONA},
+	journal1 = {OCEANS'11 MTS/IEEE KONA},
+	pages = {1--6},
+	title = {Operation of underwater rescue robot anchor diver III during the 2011 Tohoku Earthquake and Tsunami},
+	ty = {CONF},
+	year = {2011},
+	year1 = {19-22 Sept. 2011},
+	Bdsk-Url-1 = {https://doi.org/10.23919/OCEANS.2011.6107198}}
+
+@article{Casper:2003tk,
+	author = {J. Casper and R. R. Murphy},
+	booktitle = {IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)},
+	date-added = {2021-06-16 19:24:26 +0200},
+	date-modified = {2021-06-16 19:24:26 +0200},
+	doi = {10.1109/TSMCB.2003.811794},
+	isbn = {1941-0492},
+	journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)},
+	journal1 = {IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)},
+	number = {3},
+	pages = {367--385},
+	title = {Human-robot interactions during the robot-assisted urban search and rescue response at the World Trade Center},
+	ty = {JOUR},
+	vo = {33},
+	volume = {33},
+	year = {2003},
+	year1 = {June 2003},
+	Bdsk-Url-1 = {https://doi.org/10.1109/TSMCB.2003.811794}}
+
+@inproceedings{Murphy:2012th,
+	author = {R. R. Murphy},
+	booktitle = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+	date-added = {2021-06-16 19:01:14 +0200},
+	date-modified = {2021-06-16 19:01:14 +0200},
+	doi = {10.1109/IROS.2012.6386301},
+	isbn = {2153-0866},
+	journal = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+	journal1 = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+	pages = {5448--5449},
+	title = {A decade of rescue robots},
+	ty = {CONF},
+	year = {2012},
+	year1 = {7-12 Oct. 2012},
+	Bdsk-Url-1 = {https://doi.org/10.1109/IROS.2012.6386301}}
+
+@inproceedings{Liu:2017tw,
+	author = {O. Liu and D. Rakita and B. Mutlu and M. Gleicher},
+	booktitle = {2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
+	date-added = {2021-06-06 12:31:26 +0200},
+	date-modified = {2021-06-06 12:31:26 +0200},
+	doi = {10.1109/ROMAN.2017.8172387},
+	isbn = {1944-9437},
+	journal = {2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
+	journal1 = {2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
+	pages = {751--757},
+	title = {Understanding human-robot interaction in virtual reality},
+	ty = {CONF},
+	year = {2017},
+	year1 = {28 Aug.-1 Sept. 2017},
+	Bdsk-Url-1 = {https://doi.org/10.1109/ROMAN.2017.8172387}}
+
+@inproceedings{Villani:2018ub,
+	author = {V. Villani and B. Capelli and L. Sabattini},
+	booktitle = {2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
+	date-added = {2021-06-06 12:10:52 +0200},
+	date-modified = {2021-06-06 12:10:52 +0200},
+	doi = {10.1109/ROMAN.2018.8525738},
+	isbn = {1944-9437},
+	journal = {2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
+	journal1 = {2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
+	pages = {422--427},
+	title = {Use of Virtual Reality for the Evaluation of Human-Robot Interaction Systems in Complex Scenarios},
+	ty = {CONF},
+	year = {2018},
+	year1 = {27-31 Aug. 2018},
+	Bdsk-Url-1 = {https://doi.org/10.1109/ROMAN.2018.8525738}}
+
+@inproceedings{Wang:2017uy,
+	author = {P. Wang and J. Xiao and H. Lu and H. Zhang and R. Yan and S. Hong},
+	booktitle = {2017 Chinese Automation Congress (CAC)},
+	date-added = {2021-06-04 13:22:02 +0200},
+	date-modified = {2021-06-04 13:22:02 +0200},
+	doi = {10.1109/CAC.2017.8243836},
+	journal = {2017 Chinese Automation Congress (CAC)},
+	journal1 = {2017 Chinese Automation Congress (CAC)},
+	pages = {5888--5894},
+	title = {A novel human-robot interaction system based on 3D mapping and virtual reality},
+	ty = {CONF},
+	year = {2017},
+	year1 = {20-22 Oct. 2017},
+	Bdsk-Url-1 = {https://doi.org/10.1109/CAC.2017.8243836}}
+
+@inproceedings{Whitney:2018wk,
+	author = {D. Whitney and E. Rosen and D. Ullman and E. Phillips and S. Tellex},
+	booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+	date-added = {2021-06-03 16:28:59 +0200},
+	date-modified = {2021-06-03 16:28:59 +0200},
+	doi = {10.1109/IROS.2018.8593513},
+	isbn = {2153-0866},
+	journal = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+	journal1 = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+	pages = {1--9},
+	title = {ROS Reality: A Virtual Reality Framework Using Consumer-Grade Hardware for ROS-Enabled Robots},
+	ty = {CONF},
+	year = {2018},
+	year1 = {1-5 Oct. 2018},
+	Bdsk-Url-1 = {https://doi.org/10.1109/IROS.2018.8593513}}
+
+@inproceedings{Ostanin:2020uo,
+	author = {M. Ostanin and S. Mikhel and A. Evlampiev and V. Skvortsova and A. Klimchik},
+	booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
+	date-added = {2021-06-03 16:10:21 +0200},
+	date-modified = {2021-06-03 16:10:21 +0200},
+	doi = {10.1109/ICRA40945.2020.9196965},
+	isbn = {2577-087X},
+	journal = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
+	journal1 = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
+	pages = {2805--2811},
+	title = {Human-robot interaction for robotic manipulator programming in Mixed Reality},
+	ty = {CONF},
+	year = {2020},
+	year1 = {31 May-31 Aug. 2020},
+	Bdsk-Url-1 = {https://doi.org/10.1109/ICRA40945.2020.9196965}}
+
+@inproceedings{Moniri:2016ud,
+	author = {M. M. Moniri and F. A. E. Valcarcel and D. Merkel and D. Sonntag},
+	booktitle = {2016 12th International Conference on Intelligent Environments (IE)},
+	date-added = {2021-06-03 14:49:17 +0200},
+	date-modified = {2021-06-03 14:49:17 +0200},
+	doi = {10.1109/IE.2016.54},
+	isbn = {2472-7571},
+	journal = {2016 12th International Conference on Intelligent Environments (IE)},
+	journal1 = {2016 12th International Conference on Intelligent Environments (IE)},
+	pages = {238--241},
+	title = {Human Gaze and Focus-of-Attention in Dual Reality Human-Robot Collaboration},
+	ty = {CONF},
+	year = {2016},
+	year1 = {14-16 Sept. 2016},
+	Bdsk-Url-1 = {https://doi.org/10.1109/IE.2016.54}}
+
+@inproceedings{Chandrasekaran:2015tn,
+	author = {B. Chandrasekaran and J. M. Conrad},
+	booktitle = {SoutheastCon 2015},
+	date-added = {2021-06-03 13:20:37 +0200},
+	date-modified = {2021-06-03 13:21:56 +0200},
+	doi = {10.1109/SECON.2015.7132964},
+	isbn = {1558-058X},
+	journal = {SoutheastCon 2015},
+	journal1 = {SoutheastCon 2015},
+	pages = {1--8},
+	title = {Human-robot collaboration: A survey},
+	ty = {CONF},
+	year = {2015},
+	year1 = {9-12 April 2015},
+	Bdsk-Url-1 = {https://doi.org/10.1109/SECON.2015.7132964}}
+
+@article{Malik:2020un,
+	annote = {doi: 10.1080/0951192X.2019.1690685},
+	author = {Malik, Ali Ahmad and Masood, Tariq and Bilberg, Arne},
+	booktitle = {International Journal of Computer Integrated Manufacturing},
+	da = {2020/01/02},
+	date = {2020/01/02},
+	date-added = {2021-06-02 18:38:26 +0200},
+	date-modified = {2021-06-02 18:38:26 +0200},
+	doi = {10.1080/0951192X.2019.1690685},
+	isbn = {0951-192X},
+	journal = {International Journal of Computer Integrated Manufacturing},
+	journal1 = {null},
+	m3 = {doi: 10.1080/0951192X.2019.1690685},
+	month = {01},
+	number = {1},
+	pages = {22--37},
+	publisher = {Taylor \& Francis},
+	title = {Virtual reality in manufacturing: immersive and collaborative artificial-reality in design of human-robot workspace},
+	ty = {JOUR},
+	url = {https://doi.org/10.1080/0951192X.2019.1690685},
+	volume = {33},
+	year = {2020},
+	year1 = {2020},
+	Bdsk-Url-1 = {https://doi.org/10.1080/0951192X.2019.1690685}}
+
+@article{Matsas:2017vz,
+	author = {Matsas, Elias and Vosniakos, George-Christopher},
+	date = {2017},
+	date-added = {2021-06-02 14:34:55 +0200},
+	date-modified = {2021-06-02 14:34:55 +0200},
+	journal = {International Journal on Interactive Design and Manufacturing (IJIDeM)},
+	number = {2},
+	pages = {139-153 %@ 1955-2513},
+	publisher = {Springer},
+	title = {Design of a virtual reality training system for human--robot collaboration in manufacturing tasks},
+	volume = {11},
+	year = {2017}}
+
+@article{SOARES20151656,
+	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.},
+	author = {Jo{\~a}o Soares and Alberto Vale and Rodrigo Ventura},
+	date-added = {2021-06-02 14:22:40 +0200},
+	date-modified = {2021-06-02 14:22:40 +0200},
+	doi = {https://doi.org/10.1016/j.fusengdes.2015.06.148},
+	issn = {0920-3796},
+	journal = {Fusion Engineering and Design},
+	keywords = {ITER, Remote handling, Rescue and recovery, Maintenance, Interface},
+	note = {Proceedings of the 28th Symposium On Fusion Technology (SOFT-28)},
+	pages = {1656-1659},
+	title = {A Multi-purpose Rescue Vehicle and a human--robot interface architecture for remote assistance in ITER},
+	url = {https://www.sciencedirect.com/science/article/pii/S092037961530199X},
+	volume = {98-99},
+	year = {2015},
+	Bdsk-Url-1 = {https://www.sciencedirect.com/science/article/pii/S092037961530199X},
+	Bdsk-Url-2 = {https://doi.org/10.1016/j.fusengdes.2015.06.148}}

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+      \field{journaltitle}{2012 IEEE/RSJ International Conference on Intelligent Robots and Systems}
+      \field{title}{A decade of rescue robots}
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+      \field{title}{Operation of underwater rescue robot anchor diver III during the 2011 Tohoku Earthquake and Tsunami}
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+      \field{number}{2}
+      \field{title}{Human-robot interaction in rescue robotics}
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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.}
+      \field{booktitle}{Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction}
+      \field{isbn}{9781595936172}
+      \field{series}{HRI '07}
+      \field{title}{Effects of Anticipatory Action on Human-Robot Teamwork Efficiency, Fluency, and Perception of Team}
+      \field{year}{2007}
+      \field{pages}{1\bibrangedash 8}
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+      \verb 10.1145/1228716.1228718
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+      \endverb
+      \verb{url}
+      \verb https://doi.org/10.1145/1228716.1228718
+      \endverb
+      \keyw{fluency,teamwork,human-robot interaction,anticipatory action selection}
+    \endentry
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+      \field{title}{Earthquake rescue robot: A purview to life}
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+      \field{journaltitle}{2019 1st International Conference on Advances in Science, Engineering and Robotics Technology (ICASERT)}
+      \field{title}{DOORMOR: A Functional Prototype of a Manual Search and Rescue Robot}
+      \field{year}{2019}
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+      \field{journaltitle}{Lecture Notes in Computational Vision and Biomechanics}
+      \field{month}{10}
+      \field{title}{Human-Robot Interaction Based on Gestures for Service Robots}
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+      \field{year}{2017}
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+      \field{booktitle}{Proceedings of the Seventh Annual ACM/IEEE International Conference on Human-Robot Interaction}
+      \field{isbn}{9781450310635}
+      \field{series}{HRI '12}
+      \field{title}{Human-Swarm Interaction through Distributed Cooperative Gesture Recognition}
+      \field{year}{2012}
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+      \verb{url}
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+      \keyw{swarm robotics,gesture recognition,distributed consensus}
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+      \field{booktitle}{2014 IEEE/RSJ International Conference on Intelligent Robots and Systems}
+      \field{isbn}{2153-0866}
+      \field{journaltitle}{2014 IEEE/RSJ International Conference on Intelligent Robots and Systems}
+      \field{title}{Human-swarm interaction using spatial gestures}
+      \field{year}{2014}
+      \field{pages}{3834\bibrangedash 3841}
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+    \entry{Pourmehr:2013ta}{inproceedings}{}
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+      \field{booktitle}{2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}
+      \field{isbn}{2153-0866}
+      \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}
+      \field{pages}{137\bibrangedash 142}
+      \range{pages}{6}
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+    \endentry
+    \entry{Ma:2015wu}{article}{}
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+      \field{booktitle}{IEEE Transactions on Biomedical Engineering}
+      \field{isbn}{1558-2531}
+      \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}
+      \field{pages}{876\bibrangedash 889}
+      \range{pages}{14}
+      \verb{doi}
+      \verb 10.1109/TBME.2014.2369483
+      \endverb
+    \endentry
+    \entry{SOARES20151656}{article}{}
+      \name{author}{3}{}{%
+        {{hash=5a81b5ea9f67aa4dbcdc17c006a9f940}{%
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+           given={João},
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+        {{hash=195895b03409154732f59af267582044}{%
+           family={Ventura},
+           familyi={V\bibinitperiod},
+           given={Rodrigo},
+           giveni={R\bibinitperiod}}}%
+      }
+      \strng{namehash}{b5621b85dad0969a8f3da75393c20484}
+      \strng{fullhash}{b5621b85dad0969a8f3da75393c20484}
+      \strng{bibnamehash}{b5621b85dad0969a8f3da75393c20484}
+      \strng{authorbibnamehash}{b5621b85dad0969a8f3da75393c20484}
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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}
+      \field{pages}{1656\bibrangedash 1659}
+      \range{pages}{4}
+      \verb{doi}
+      \verb https://doi.org/10.1016/j.fusengdes.2015.06.148
+      \endverb
+      \verb{urlraw}
+      \verb https://www.sciencedirect.com/science/article/pii/S092037961530199X
+      \endverb
+      \verb{url}
+      \verb https://www.sciencedirect.com/science/article/pii/S092037961530199X
+      \endverb
+      \keyw{ITER,Remote handling,Rescue and recovery,Maintenance,Interface}
+    \endentry
+    \entry{Villani:2018ub}{inproceedings}{}
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+      \field{booktitle}{2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)}
+      \field{isbn}{1944-9437}
+      \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}
+      \field{pages}{422\bibrangedash 427}
+      \range{pages}{6}
+      \verb{doi}
+      \verb 10.1109/ROMAN.2018.8525738
+      \endverb
+    \endentry
+    \entry{Liu:2017tw}{inproceedings}{}
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+      <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">Wang:2017uy</bcf:citekey>
+    <bcf:citekey order="17">Whitney:2018wk</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

@@ -0,0 +1,27 @@
+[0] Config.pm:311> INFO - This is Biber 2.16
+[0] Config.pm:314> INFO - Logfile is 'Thesis_Jingyi.blg'
+[62] biber-darwin:340> INFO - === Thu Jul  1, 2021, 12:33:05
+[74] Biber.pm:415> INFO - Reading 'Thesis_Jingyi.bcf'
+[152] Biber.pm:952> INFO - Found 17 citekeys in bib section 0
+[164] Biber.pm:4340> INFO - Processing section 0
+[172] Biber.pm:4531> INFO - Looking for bibtex format file 'BibTexDatei.bib' for section 0
+[176] bibtex.pm:1689> INFO - LaTeX decoding ...
+[214] bibtex.pm:1494> INFO - Found BibTeX data source 'BibTexDatei.bib'
+[233] Utils.pm:395> WARN - ISBN '1941-0492' in entry 'Casper:2003tk' is invalid - run biber with '--validate_datamodel' for details.
+[254] Utils.pm:395> WARN - ISBN '2153-0866' in entry 'Murphy:2012th' is invalid - run biber with '--validate_datamodel' for details.
+[258] Utils.pm:395> WARN - ISBN '0197-7385' in entry 'Huang:2011wq' is invalid - run biber with '--validate_datamodel' for details.
+[260] Utils.pm:395> WARN - ISBN '1558-2442' in entry 'Murphy:2004wl' is invalid - run biber with '--validate_datamodel' for details.
+[280] Utils.pm:395> WARN - Entry 'Sousa:2017tn' (BibTexDatei.bib): Invalid format '2017/10/18' of date field 'date' - ignoring
+[288] Utils.pm:395> WARN - ISBN '2153-0866' in entry 'Nagi:2014vu' is invalid - run biber with '--validate_datamodel' for details.
+[292] Utils.pm:395> WARN - ISBN '2153-0866' in entry 'Pourmehr:2013ta' is invalid - run biber with '--validate_datamodel' for details.
+[296] Utils.pm:395> WARN - ISBN '1558-2531' in entry 'Ma:2015wu' is invalid - run biber with '--validate_datamodel' for details.
+[303] Utils.pm:395> WARN - ISBN '1944-9437' in entry 'Villani:2018ub' is invalid - run biber with '--validate_datamodel' for details.
+[307] Utils.pm:395> WARN - ISBN '1944-9437' in entry 'Liu:2017tw' is invalid - run biber with '--validate_datamodel' for details.
+[317] Utils.pm:395> WARN - ISBN '2153-0866' in entry 'Whitney:2018wk' is invalid - run biber with '--validate_datamodel' for details.
+[332] UCollate.pm:68> INFO - Overriding locale 'en-US' defaults 'variable = shifted' with 'variable = non-ignorable'
+[332] UCollate.pm:68> INFO - Overriding locale 'en-US' defaults 'normalization = NFD' with 'normalization = prenormalized'
+[332] Biber.pm:4168> INFO - Sorting list 'none/global//global/global' of type 'entry' with template 'none' and locale 'en-US'
+[332] Biber.pm:4174> INFO - No sort tailoring available for locale 'en-US'
+[343] bbl.pm:654> INFO - Writing 'Thesis_Jingyi.bbl' with encoding 'UTF-8'
+[354] bbl.pm:757> INFO - Output to Thesis_Jingyi.bbl
+[354] Biber.pm:128> INFO - WARNINGS: 11

Thesis_LaTeX/Thesis_Jingyi.fdb_latexmk

@@ -0,0 +1,292 @@
+# Fdb version 3
+["biber Thesis_Jingyi"] 1625135582 "Thesis_Jingyi.bcf" "Thesis_Jingyi.bbl" "Thesis_Jingyi" 1625135600
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+(fontspec)             <->s*[1]"[Roboto-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
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+
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+
+Package fontspec Info: Font family 'RobotoCondensed(1)' created for font
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+(fontspec)             <->s*[1]"[RobotoCondensed-BoldItalic.otf]:mode=node;script=latn;language=dflt;+tlig;+pnum;+lnum;+smcp;"
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+luaotfload | aux : font no 49 (nil) defines no feature for script latn
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+
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+
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+
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+
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+
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+
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+
+\Metadata{
+	title= Concepts for operating ground based rescue robots using virtual reality,
+	author=Jingyi Jia
+}
+
+\title{Concepts for operating ground based rescue robots using virtual reality}
+%\subtitle{\LaTeX{} using TU Darmstadt's Corporate Design}
+\author{Jingyi Jia}%optionales Argument ist die Signatur,
+\birthplace{Shanghai, China}%Geburtsort, bei Dissertationen zwingend notwendig
+\reviewer{Prof. Dr. Max Mühlhäuser \and Julius von Willich}%Gutachter
+
+
+\department{inf} % Das Kürzel wird automatisch ersetzt und als Studienfach gewählt, siehe Liste der Kürzel im Dokument.
+\institute{Telekooperation \\ Prof. Dr. Max Mühlhäuser}
+
+
+\submissiondate{\today}
+\examdate{\today}
+
+
+\maketitle
+\affidavit
+\tableofcontents
+
+\input{chapters/abstract.tex}
+\input{chapters/introduction.tex}
+%\input{chapters/related_work.tex}
+\input{chapters/implementation.tex}
+\input{chapters/evaluate.tex}
+\input{chapters/result.tex}
+\input{chapters/conclusion.tex}
+
+
+
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+
+\end{document}

Thesis_LaTeX/Thesis_Jingyi.toc

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+\boolfalse {citerequest}\boolfalse {citetracker}\boolfalse {pagetracker}\boolfalse {backtracker}\relax 
+\babel@toc {english}{}
+\babel@toc {ngerman}{}
+\babel@toc {english}{}
+\defcounter {refsection}{0}\relax 
+\contentsline {chapter}{\numberline {1}Abstract}{4}{chapter.1}%
+\defcounter {refsection}{0}\relax 
+\contentsline {chapter}{\numberline {2}Introduction}{5}{chapter.2}%
+\defcounter {refsection}{0}\relax 
+\contentsline {chapter}{\numberline {3}Implementation}{7}{chapter.3}%
+\defcounter {refsection}{0}\relax 
+\contentsline {section}{\numberline {3.1}Overview}{7}{section.3.1}%
+\defcounter {refsection}{0}\relax 
+\contentsline {section}{\numberline {3.2}System Architecture}{7}{section.3.2}%
+\defcounter {refsection}{0}\relax 
+\contentsline {section}{\numberline {3.3}Robot}{8}{section.3.3}%
+\defcounter {refsection}{0}\relax 
+\contentsline {section}{\numberline {3.4}Interaction techniques}{8}{section.3.4}%
+\defcounter {refsection}{0}\relax 
+\contentsline {subsection}{\numberline {3.4.1}Handle Mode}{10}{subsection.3.4.1}%
+\defcounter {refsection}{0}\relax 
+\contentsline {subsection}{\numberline {3.4.2}Lab Mode}{10}{subsection.3.4.2}%
+\defcounter {refsection}{0}\relax 
+\contentsline {subsection}{\numberline {3.4.3}Remote Mode}{10}{subsection.3.4.3}%
+\defcounter {refsection}{0}\relax 
+\contentsline {subsection}{\numberline {3.4.4}UI Mode}{10}{subsection.3.4.4}%
+\defcounter {refsection}{0}\relax 
+\contentsline {section}{\numberline {3.5}Test Scene}{10}{section.3.5}%
+\defcounter {refsection}{0}\relax 
+\contentsline {chapter}{\numberline {4}Evaluation of User Experience}{11}{chapter.4}%
+\defcounter {refsection}{0}\relax 
+\contentsline {section}{\numberline {4.1}Study Design}{11}{section.4.1}%
+\defcounter {refsection}{0}\relax 
+\contentsline {section}{\numberline {4.2}Procedure}{11}{section.4.2}%
+\defcounter {refsection}{0}\relax 
+\contentsline {section}{\numberline {4.3}Entering the world of VR}{11}{section.4.3}%
+\defcounter {refsection}{0}\relax 
+\contentsline {section}{\numberline {4.4}Practice and evaluation of modes}{12}{section.4.4}%
+\defcounter {refsection}{0}\relax 
+\contentsline {chapter}{\numberline {5}Results}{13}{chapter.5}%
+\defcounter {refsection}{0}\relax 
+\contentsline {chapter}{\numberline {6}Conclusion and future work}{14}{chapter.6}%
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Thesis_LaTeX/Thesis_Jingyi.xmpdata

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

Thesis_LaTeX/User Study/Procedure.md

@@ -0,0 +1,41 @@
+## Procedure
+
+##### Demographics and Introduction 
+
+> 1. inform the purpose and collected data
+> 2. basic demographics(google form)
+> 3. introduce 4 mode: verbal + show motion controller
+
+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.
+
+
+
+##### Entering the world of VR
+
+> 1. wear the headset
+> 2. familiar with the menu : switch & select mode(practice) & close
+> 3. change position : teleport & raise or lower
+> 4. rescue 1 victim
+
+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 selecting options of the menu, as this involves switching between different modes and entering the test scenes. Then participants would use 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.
+
+
+
+##### Practice and evaluation of modes
+
+> 1. `foreach Mode`:
+> 	1. enter mode(practice)
+> 	2. try to move the robot
+> 	3. try to rescue 1-2 victims
+> 	4. enter test scene
+> 	5. -testing- 
+> 	6. Fill out the questionnaire: google form + TLX
+>
+> 2. summary part of google form: 
+> 	- like/dislike most
+> 	- reason 
+> 	- feedback
+
+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 participant first switched to the mode of operation to be tested and manipulated the robot to move in that mode. 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/abstract.tex

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

Thesis_LaTeX/chapters/conclusion.tex

@@ -0,0 +1,2 @@
+\chapter{Conclusion and future work}
+\label{conclusion}

Thesis_LaTeX/chapters/evaluate.tex

@@ -0,0 +1,28 @@
+\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 a questionnaire 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. Besides the number of victims rescued, the number of victims who were already visible but neglected is also important data. 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 of operation and were asked to select their favorite and least favorite modes of operation.
+
+
+
+\section{Procedure}
+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.
+
+
+
+\section{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 selecting options of the menu, as this involves switching between different modes and entering the test scenes. Then participants would use 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.
+
+
+
+\section{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 participant first switched to the mode of operation to be tested and manipulated the robot to move in that mode. 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/implementation.tex

@@ -0,0 +1,51 @@
+\chapter{Implementation}
+\label{implementation}
+
+% summary
+In this chapter, the tools and techniques used in building this human-computer collaborative VR-based system are described. The focus will be on interaction techniques for different modes of operation. 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 be used 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 modes of operation and a corresponding test environment 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 picture seen by the user depends on the direction of 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 probe camera to detect the real environment and synchronise it to Unity, a conical 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. Each camera is set up in such a way that it can only see the area detected by the robot's radar and change the image bound to it in real time. The four operations 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}[h]
+    \centering
+    \includegraphics[height=12cm]{graphics/uml.png}
+    \caption{UML Class diagram for the main structure of the system}
+    \label{fig:uml}
+\end{figure}
+
+\subsection{Handle Mode}
+\subsection{Lab Mode}
+\subsection{Remote Mode}
+\subsection{UI Mode}
+
+
+\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

@@ -0,0 +1,31 @@
+\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}.
+
+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 for the simulation of ground rescue robots with four different modes of operation and corresponding test scenes imitating a post-disaster city. The test scene simulates a robot collaborating with Unity to construct a virtual 3D scene. The robot has a simulated radar, 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
+Chapter \ref{implementation} provides details of the purposed system, including the techniques used for the different interaction modes and the structure of the test scenes.
+Chapter \ref{evaluate} will talk about the design and process 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

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Thesis_LaTeX/chapters/result.tex

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+\chapter{Results}
+\label{result}

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