{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T15:28:00Z","timestamp":1772119680261,"version":"3.50.1"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2023,7,22]],"date-time":"2023-07-22T00:00:00Z","timestamp":1689984000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,7,22]],"date-time":"2023-07-22T00:00:00Z","timestamp":1689984000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Genet Program Evolvable Mach"],"published-print":{"date-parts":[[2023,12]]},"DOI":"10.1007\/s10710-023-09457-z","type":"journal-article","created":{"date-parts":[[2023,7,22]],"date-time":"2023-07-22T07:02:21Z","timestamp":1690009341000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Evolutionary design of swing-up controllers for stabilization task of underactuated inverted pendulums"],"prefix":"10.1007","volume":"24","author":[{"given":"Marlen","family":"Meza-S\u00e1nchez","sequence":"first","affiliation":[]},{"given":"M. C.","family":"Rodr\u00edguez-Li\u00f1\u00e1n","sequence":"additional","affiliation":[]},{"given":"Eddie","family":"Clemente","sequence":"additional","affiliation":[]},{"given":"Leonardo","family":"Herrera","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,7,22]]},"reference":[{"key":"9457_CR1","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1007\/BFb0015081","volume-title":"Control Problems in Robotics and Automation","author":"MW Spong","year":"1998","unstructured":"M.W. Spong, Underactuated mechanical systems, in Control Problems in Robotics and Automation. ed. by B. Siciliano, K.P. Valavanis (Springer, Berlin, Heidelberg, 1998), pp.135\u2013150"},{"key":"9457_CR2","volume-title":"Non-Linear Control for Underactuated Mechanical Systems","author":"I Fantoni","year":"2001","unstructured":"I. Fantoni, R. Lozano, Non-Linear Control for Underactuated Mechanical Systems (Springer, Berlin, Heidelberg, 2001)"},{"issue":"2","key":"9457_CR3","doi-asserted-by":"publisher","first-page":"131","DOI":"10.1163\/156855303321165097","volume":"17","author":"S Kajita","year":"2003","unstructured":"S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, H. Hirukawa, Biped walking pattern generation by a simple three-dimensional inverted pendulum model. Adv. Robotics 17(2), 131\u2013147 (2003). https:\/\/doi.org\/10.1163\/156855303321165097","journal-title":"Adv. Robotics"},{"issue":"6","key":"9457_CR4","doi-asserted-by":"publisher","first-page":"692","DOI":"10.1109\/TSMC.2013.2272612","volume":"44","author":"Y Yoshida","year":"2014","unstructured":"Y. Yoshida, K. Takeuchi, Y. Miyamoto, D. Sato, D. Nenchev, Postural balance strategies in response to disturbances in the frontal plane and their implementation with a humanoid robot. IEEE Trans. Syst. Man Cybern.: Syst. 44(6), 692\u2013704 (2014). https:\/\/doi.org\/10.1109\/TSMC.2013.2272612","journal-title":"IEEE Trans. Syst. Man Cybern.: Syst."},{"issue":"5","key":"9457_CR5","doi-asserted-by":"publisher","first-page":"733","DOI":"10.1109\/TSMC.2016.2621181","volume":"48","author":"M Yue","year":"2018","unstructured":"M. Yue, C. An, Z. Li, Constrained adaptive robust trajectory tracking for WIP vehicles using model predictive control and extended state observer. IEEE Trans. Syst. Man Cybern.: Syst. 48(5), 733\u2013742 (2018). https:\/\/doi.org\/10.1109\/TSMC.2016.2621181","journal-title":"IEEE Trans. Syst. Man Cybern.: Syst."},{"key":"9457_CR6","doi-asserted-by":"publisher","first-page":"21","DOI":"10.3389\/frobt.2015.00021","volume":"2","author":"A Elhasairi","year":"2015","unstructured":"A. Elhasairi, A. Pechev, Humanoid robot balance control using the spherical inverted pendulum mode. Front. Robotics AI 2, 21 (2015). https:\/\/doi.org\/10.3389\/frobt.2015.00021","journal-title":"Front. Robotics AI"},{"key":"9457_CR7","volume-title":"The Inverted Pendulum in Control Theory and Robotics: From Theory to New Innovations (Series Control, Robotics and Sensors)","author":"O Boubaker","year":"2017","unstructured":"O. Boubaker, R. Iriarte, The Inverted Pendulum in Control Theory and Robotics: From Theory to New Innovations (Series Control, Robotics and Sensors) (Institution of Engineering and Technology, London, England, 2017)"},{"key":"9457_CR8","doi-asserted-by":"publisher","first-page":"559","DOI":"10.1016\/j.enconman.2019.02.001","volume":"184","author":"I Izadgoshasb","year":"2019","unstructured":"I. Izadgoshasb, Y.Y. Lim, L. Tang, R.V. Padilla, Z.S. Tang, M. Sedighi, Improving efficiency of piezoelectric based energy harvesting from human motions using double pendulum system. Energy Convers. Manag. 184, 559\u2013570 (2019). https:\/\/doi.org\/10.1016\/j.enconman.2019.02.001","journal-title":"Energy Convers. Manag."},{"key":"9457_CR9","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1016\/j.jtbi.2018.08.027","volume":"457","author":"T Biswas","year":"2018","unstructured":"T. Biswas, S. Rao, V. Bhandawat, A simple extension of inverted pendulum template to explain features of slow walking. J. Theor. Biol. 457, 112\u2013123 (2018). https:\/\/doi.org\/10.1016\/j.jtbi.2018.08.027","journal-title":"J. Theor. Biol."},{"issue":"15","key":"9457_CR10","doi-asserted-by":"publisher","first-page":"10529","DOI":"10.1016\/j.jfranklin.2020.08.030","volume":"357","author":"ZB Hazem","year":"2020","unstructured":"Z.B. Hazem, M.J. Fotuhi, Z. Bing\u00fcl, Development of a Fuzzy-LQR and Fuzzy-LQG stability control for a double link rotary inverted pendulum. J. Franklin Inst. 357(15), 10529\u201310556 (2020). https:\/\/doi.org\/10.1016\/j.jfranklin.2020.08.030","journal-title":"J. Franklin Inst."},{"issue":"1","key":"9457_CR11","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1002\/asjc.1925","volume":"22","author":"B S\u00e1nchez","year":"2020","unstructured":"B. S\u00e1nchez, P. Ordaz, O. Santos, Swing-stabilization up for a rotatory-elastic pendulum via nonlinear sub-optimal control. Asian J. Control 22(1), 34\u201348 (2020). https:\/\/doi.org\/10.1002\/asjc.1925","journal-title":"Asian J. Control"},{"key":"9457_CR12","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.2577","author":"A Nayak","year":"2021","unstructured":"A. Nayak, R.N. Banavar, D.H.S. Maithripala, Stabilizing a spherical pendulum on a quadrotor. Asian J. Control (2021). https:\/\/doi.org\/10.1002\/asjc.2577","journal-title":"Asian J. Control"},{"issue":"2","key":"9457_CR13","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1515\/ijnsns-2018-0029","volume":"22","author":"I Chawla","year":"2021","unstructured":"I. Chawla, V. Chopra, A. Singla, Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller. Int. J. Nonlinear Sci. Numer. Simul. 22(2), 183\u2013195 (2021). https:\/\/doi.org\/10.1515\/ijnsns-2018-0029","journal-title":"Int. J. Nonlinear Sci. Numer. Simul."},{"key":"9457_CR14","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.6052","author":"L Herrera","year":"2022","unstructured":"L. Herrera, Md.C. Rodr\u00edguez-Li\u00f1\u00e1n, M. Meza-S\u00e1nchez, E. Clemente, Orbital synchronization of homogeneous mechanical systems with one degree of underactuation. Int. J. Robust. Nonlinear Control (2022). https:\/\/doi.org\/10.1002\/rnc.6052","journal-title":"Int. J. Robust. Nonlinear Control"},{"key":"9457_CR15","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-0017-8","volume-title":"Switching in Systems and Control","author":"D Liberzon","year":"2003","unstructured":"D. Liberzon, Switching in Systems and Control (Birkh\u00e4user, Boston, 2003)"},{"key":"9457_CR16","doi-asserted-by":"publisher","first-page":"383","DOI":"10.1007\/978-3-540-79016-7_18","volume-title":"Modern Sliding Mode Control Theory: New Perspectives and Applications","author":"Y Orlov","year":"2008","unstructured":"Y. Orlov, L.T. Aguilar, L. Acho, A. Ortiz, Robust orbital stabilization of pendubot: algorithm synthesis, experimental verification, and application to swing up and balancing control, in Modern Sliding Mode Control Theory: New Perspectives and Applications. ed. by G. Bartolini, L. Fridman, A. Pisano, E. Usai (Springer, Berlin, Heidelberg, 2008), pp.383\u2013400. https:\/\/doi.org\/10.1007\/978-3-540-79016-7_18"},{"issue":"4","key":"9457_CR17","doi-asserted-by":"publisher","first-page":"725","DOI":"10.1109\/9.847110","volume":"45","author":"I Fantoni","year":"2000","unstructured":"I. Fantoni, R. Lozano, M.W. Spong, Energy based control of the pendubot. IEEE Trans. Automat. Control 45(4), 725\u2013729 (2000). https:\/\/doi.org\/10.1109\/9.847110","journal-title":"IEEE Trans. Automat. Control"},{"issue":"1","key":"9457_CR18","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1109\/3516.990890","volume":"7","author":"M Zhang","year":"2002","unstructured":"M. Zhang, T.-J. Tarn, Hybrid control of the pendubot. IEEE\/ASME Trans. Mechatron. 7(1), 79\u201386 (2002). https:\/\/doi.org\/10.1109\/3516.990890","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"7","key":"9457_CR19","doi-asserted-by":"publisher","first-page":"1399","DOI":"10.1080\/00207721.2019.1615575","volume":"50","author":"O Saleem","year":"2019","unstructured":"O. Saleem, K. Mahmood-ul-Hasan, Robust stabilisation of rotary inverted pendulum using intelligently optimised nonlinear self-adaptive dual fractional-order PD controllers. Int. J. Syst. Sci. 50(7), 1399\u20131414 (2019). https:\/\/doi.org\/10.1080\/00207721.2019.1615575","journal-title":"Int. J. Syst. Sci."},{"issue":"7","key":"9457_CR20","doi-asserted-by":"publisher","first-page":"1408","DOI":"10.1109\/TSMC.2018.2871627","volume":"49","author":"N Sun","year":"2019","unstructured":"N. Sun, T. Yang, Y. Fang, Y. Wu, H. Chen, Transportation control of double-pendulum cranes with a nonlinear quasi-PID scheme: design and experiments. IEEE Trans. Syst. Man Cybern.: Syst. 49(7), 1408\u20131418 (2019). https:\/\/doi.org\/10.1109\/TSMC.2018.2871627","journal-title":"IEEE Trans. Syst. Man Cybern.: Syst."},{"issue":"9","key":"9457_CR21","doi-asserted-by":"publisher","first-page":"3908","DOI":"10.1002\/rnc.5176","volume":"31","author":"D Guti\u00e9rrez-Oribio","year":"2020","unstructured":"D. Guti\u00e9rrez-Oribio, J.A. Mercado-Uribe, J.A. Moreno, L. Fridman, Robust global stabilization of a class of underactuated mechanical systems of two degrees of freedom. Int. J. Robust Nonlinear Control 31(9), 3908\u20133928 (2020). https:\/\/doi.org\/10.1002\/rnc.5176","journal-title":"Int. J. Robust Nonlinear Control"},{"issue":"1","key":"9457_CR22","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1109\/37.341864","volume":"15","author":"MW Spong","year":"1995","unstructured":"M.W. Spong, The swing up control problem for the acrobot. IEEE Control Syst. Mag. 15(1), 49\u201355 (1995). https:\/\/doi.org\/10.1109\/37.341864","journal-title":"IEEE Control Syst. Mag."},{"issue":"3","key":"9457_CR23","doi-asserted-by":"publisher","first-page":"197","DOI":"10.1016\/S0167-6911(00)00025-6","volume":"40","author":"R Lozano","year":"2000","unstructured":"R. Lozano, I. Fantoni, D.J. Block, Stabilization of the inverted pendulum around its homoclinic orbit. Syst. Control Lett. 40(3), 197\u2013204 (2000). https:\/\/doi.org\/10.1016\/S0167-6911(00)00025-6","journal-title":"Syst. Control Lett."},{"key":"9457_CR24","doi-asserted-by":"publisher","DOI":"10.1007\/s00500-022-06968-2","author":"H Bui","year":"2022","unstructured":"H. Bui, M. Pham, T.S. Nguyen, Swing-up control of an inverted pendulum cart system using the approach of hedge-algebras theory. Soft. Comput. (2022). https:\/\/doi.org\/10.1007\/s00500-022-06968-2","journal-title":"Soft. Comput."},{"issue":"1","key":"9457_CR25","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1016\/j.automatica.2003.07.009","volume":"40","author":"AS Shiriaev","year":"2004","unstructured":"A.S. Shiriaev, H. Ludvigsen, O. Egeland, Swinging up the spherical pendulum via stabilization of its first integrals. Automatica 40(1), 73\u201385 (2004). https:\/\/doi.org\/10.1016\/j.automatica.2003.07.009","journal-title":"Automatica"},{"issue":"4","key":"9457_CR26","doi-asserted-by":"publisher","first-page":"975","DOI":"10.1109\/TRO.2009.2022427","volume":"25","author":"T Albahkali","year":"2009","unstructured":"T. Albahkali, R. Mukherjee, T. Das, Swing-up control of the pendubot: An impulse-momentum approach. IEEE Trans. Robot. 25(4), 975\u2013982 (2009). https:\/\/doi.org\/10.1109\/TRO.2009.2022427","journal-title":"IEEE Trans. Robot."},{"issue":"8","key":"9457_CR27","doi-asserted-by":"publisher","first-page":"1240","DOI":"10.1016\/j.mechatronics.2009.07.005","volume":"19","author":"PX La Hera","year":"2009","unstructured":"P.X. La Hera, L.B. Freidovich, A.S. Shiriaev, U. Mettin, New approach for swinging up the furuta pendulum: theory and experiments. Mechatronics 19(8), 1240\u20131250 (2009). https:\/\/doi.org\/10.1016\/j.mechatronics.2009.07.005","journal-title":"Mechatronics"},{"issue":"9","key":"9457_CR28","doi-asserted-by":"publisher","first-page":"1886","DOI":"10.1080\/00207179.2014.893450","volume":"87","author":"K Fla\u00dfkamp","year":"2014","unstructured":"K. Fla\u00dfkamp, J. Timmermann, S. Ober-Bl\u00f6baum, A. Tr\u00e4chtler, Control strategies on stable manifolds for energy-efficient swing-ups of double pendula. Int. J. Control 87(9), 1886\u20131905 (2014). https:\/\/doi.org\/10.1080\/00207179.2014.893450","journal-title":"Int. J. Control"},{"key":"9457_CR29","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1016\/j.promfg.2018.06.004","volume":"24","author":"M Hesse","year":"2018","unstructured":"M. Hesse, J. Timmermann, E. H\u00fcllermeier, A. Tr\u00e4chtler, A reinforcement learning strategy for the swing-up of the double pendulum on a cart. Procedia Manuf. 24, 15\u201320 (2018). https:\/\/doi.org\/10.1016\/j.promfg.2018.06.004","journal-title":"Procedia Manuf."},{"key":"9457_CR30","doi-asserted-by":"publisher","first-page":"981","DOI":"10.1007\/s11012-021-01311-9","volume":"56","author":"JFS Trentin","year":"2021","unstructured":"J.F.S. Trentin, S. da Silva, JMd.S. Ribeiro, H. Schaub, An experimental study to swing up and control a pendulum with two reaction wheels. Meccanica 56, 981\u2013990 (2021). https:\/\/doi.org\/10.1007\/s11012-021-01311-9","journal-title":"Meccanica"},{"key":"9457_CR31","volume-title":"Genetic Programming: On the Programming of Computers by Means of Natural Selection","author":"JR Koza","year":"1992","unstructured":"J.R. Koza, Genetic Programming: On the Programming of Computers by Means of Natural Selection (MIT Press, Cambridge, 1992)"},{"key":"9457_CR32","volume-title":"Automatic Synthesis of Controllers","author":"JR Koza","year":"2003","unstructured":"J.R. Koza, M.A. Keane, M.J. Streeter, W. Mydlowec, J. Yu, G. Lanza, Automatic Synthesis of Controllers (Springer, Boston, 2003)"},{"key":"9457_CR33","unstructured":"J.R. Koza, M.A. Keane, J. Yu, F.H. Bennett, W. Mydlowec, Method and apparatus for automatic synthesis controllers (U.S. Patent US6564194B1, May. 2003)"},{"key":"9457_CR34","doi-asserted-by":"publisher","first-page":"519","DOI":"10.1007\/978-1-4614-9152-1_9","volume-title":"Transfer Functions Block Diagrams and the s-Plane","author":"KA Seeler","year":"2014","unstructured":"K.A. Seeler, Transfer Functions Block Diagrams and the s-Plane (Springer, New York, 2014), pp.519\u2013576. https:\/\/doi.org\/10.1007\/978-1-4614-9152-1_9"},{"key":"9457_CR35","doi-asserted-by":"publisher","first-page":"174","DOI":"10.1007\/978-3-540-24855-2_16","volume-title":"Genetic and Evolutionary Computation - GECCO 2004","author":"A Soltoggio","year":"2004","unstructured":"A. Soltoggio, A comparison of genetic programming and genetic algorithms in the design of a robust, saturated control system, in Genetic and Evolutionary Computation - GECCO 2004. ed. by K. Deb (Springer, Berlin, Heidelberg, 2004), pp.174\u2013185"},{"issue":"2","key":"9457_CR36","doi-asserted-by":"publisher","first-page":"359","DOI":"10.1007\/s10846-017-0751-y","volume":"92","author":"E Clemente","year":"2018","unstructured":"E. Clemente, M. Meza-S\u00e1nchez, E. Bugarin, A.Y. Aguilar-Bustos, Adaptive behaviors in autonomous navigation with collision avoidance and bounded velocity of an omnidirectional mobile robot. J. Intell. Robotic Syst. 92(2), 359\u2013380 (2018). https:\/\/doi.org\/10.1007\/s10846-017-0751-y","journal-title":"J. Intell. Robotic Syst."},{"key":"9457_CR37","doi-asserted-by":"publisher","first-page":"12","DOI":"10.1016\/j.engappai.2018.10.001","volume":"78","author":"O Pe\u00f1aloza-Mej\u00eda","year":"2019","unstructured":"O. Pe\u00f1aloza-Mej\u00eda, E. Clemente, M. Meza-S\u00e1nchez, C.B. P\u00e9rez, Evolving behaviors for bounded-flow tracking control of second-order dynamical systems. Eng. Appl. Artif. Intell. 78, 12\u201327 (2019). https:\/\/doi.org\/10.1016\/j.engappai.2018.10.001","journal-title":"Eng. Appl. Artif. Intell."},{"key":"9457_CR38","doi-asserted-by":"publisher","first-page":"436","DOI":"10.1016\/j.ins.2019.06.025","volume":"501","author":"M Meza-S\u00e1nchez","year":"2019","unstructured":"M. Meza-S\u00e1nchez, E. Clemente, M.C. Rodr\u00edguez-Li\u00f1\u00e1n, G. Olague, Synthetic-analytic behavior-based control framework: Constraining velocity in tracking for nonholonomic wheeled mobile robots. Inf. Sci. 501, 436\u2013459 (2019). https:\/\/doi.org\/10.1016\/j.ins.2019.06.025","journal-title":"Inf. Sci."},{"key":"9457_CR39","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2021.108174","volume":"115","author":"L Herrera","year":"2022","unstructured":"L. Herrera, M.C. Rodr\u00edguez-Li\u00f1\u00e1n, E. Clemente, M. Meza-S\u00e1nchez, L. Monay-Arredondo, Evolved extended Kalman filter for first-order dynamical systems with unknown measurements noise covariance. Appl. Soft Comput. 115, 108174 (2022)","journal-title":"Appl. Soft Comput."},{"key":"9457_CR40","volume-title":"Springer Handbook of Robotics","author":"B Siciliano","year":"2007","unstructured":"B. Siciliano, O. Khatib, Springer Handbook of Robotics (Springer, Secaucus, NJ, USA, 2007)"},{"key":"9457_CR41","volume-title":"Applied Numerical Methods with Software","author":"J Nakamura","year":"1990","unstructured":"J. Nakamura, Applied Numerical Methods with Software, 1st edn. (Prentice Hall PTR, Upper Saddle River, NJ, USA, 1990)","edition":"1"},{"key":"9457_CR42","volume-title":"Numerical Methods for Scientists and Engineers","author":"RW Hamming","year":"1973","unstructured":"R.W. Hamming, Numerical Methods for Scientists and Engineers (McGraw-Hill Inc, New York, 1973)"},{"issue":"10","key":"9457_CR43","doi-asserted-by":"publisher","first-page":"1387","DOI":"10.1049\/iet-cta.2019.0680","volume":"14","author":"M Meza-S\u00e1nchez","year":"2020","unstructured":"M. Meza-S\u00e1nchez, M.C. Rodr\u00edguez-Li\u00f1\u00e1n, E. Clemente, Family of controllers based on sector non-linear functions: an application for first-order dynamical systems. IET Control Theory A 14(10), 1387\u20131392 (2020). https:\/\/doi.org\/10.1049\/iet-cta.2019.0680","journal-title":"IET Control Theory A"}],"container-title":["Genetic Programming and Evolvable Machines"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10710-023-09457-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10710-023-09457-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10710-023-09457-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,10]],"date-time":"2023-12-10T05:04:49Z","timestamp":1702184689000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10710-023-09457-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7,22]]},"references-count":43,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2023,12]]}},"alternative-id":["9457"],"URL":"https:\/\/doi.org\/10.1007\/s10710-023-09457-z","relation":{"has-preprint":[{"id-type":"doi","id":"10.21203\/rs.3.rs-2208846\/v1","asserted-by":"object"}]},"ISSN":["1389-2576","1573-7632"],"issn-type":[{"value":"1389-2576","type":"print"},{"value":"1573-7632","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,7,22]]},"assertion":[{"value":"27 October 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 June 2023","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 June 2023","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 July 2023","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The submitted work is original and it not have been published elsewhere in any form or language. The authors declare no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}],"article-number":"9"}}