Thesis-Hector-VR/Thesis_LaTeX/BibTexDatei.bib

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@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},
	Bdsk-Url-1 = {https://doi.org/10.1145/1228716.1228718}}

@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}}