{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T05:45:51Z","timestamp":1777441551073,"version":"3.51.4"},"reference-count":59,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2010,4,22]],"date-time":"2010-04-22T00:00:00Z","timestamp":1271894400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2010,11]]},"DOI":"10.1007\/s10846-010-9416-9","type":"journal-article","created":{"date-parts":[[2010,4,21]],"date-time":"2010-04-21T04:17:00Z","timestamp":1271823420000},"page":"285-316","source":"Crossref","is-referenced-by-count":68,"title":["Direct Method Based Control System for an Autonomous Quadrotor"],"prefix":"10.1007","volume":"60","author":[{"given":"Ian D.","family":"Cowling","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oleg A.","family":"Yakimenko","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James F.","family":"Whidborne","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alastair K.","family":"Cooke","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2010,4,22]]},"reference":[{"key":"9416_CR1","volume-title":"Proceedings of the AIAA Guidance, Navigation and Control Conference","author":"M Valenti","year":"2006","unstructured":"Valenti, M., Bethke, B., Fiore, G., How, J.P.: Indoor multi-vehicle flight testbed for fault detection, isolation, and recovery. In: Proceedings of the AIAA Guidance, Navigation and Control ConferenceKeystone, Colorado (2006)"},{"key":"9416_CR2","unstructured":"Murphy, R., Stover, S., Choset, H.: Lessons learned on the uses of unmanned vehicles from the 2004 Florida Hurricane Season. CRASAR-TR2005-11, AUVSI Unmanned Systems North America, Baltimore, MD, 27\u201329 June 2005"},{"key":"9416_CR3","unstructured":"Murphy, R., Stover, S.: Gaps analysis for rescue robots. CRASAR-TR2005-12 (2006)"},{"key":"9416_CR4","doi-asserted-by":"crossref","unstructured":"Richards, A., How, J.P.: Aircraft trajectory planning with collision avoidance using mixed integer linear programming. In: Proceedings of the American Control Conference, Anchorage, AK, 8\u201310 May 2002","DOI":"10.1109\/ACC.2002.1023918"},{"issue":"4","key":"9416_CR5","doi-asserted-by":"crossref","first-page":"338","DOI":"10.2514\/3.20223","volume":"10","author":"CR Hargraves","year":"1987","unstructured":"Hargraves, C.R., Paris, S.W.: Direct trajectory optimization using nonlinear programming and collocation. J. Guid. Control Dyn. 10(4), 338\u2013342 (1987)","journal-title":"J. Guid. Control Dyn."},{"issue":"4","key":"9416_CR6","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1016\/0005-1098(88)90092-1","volume":"24","author":"SH Lane","year":"1988","unstructured":"Lane, S.H., Stengel, R.F.: Flight control design using nonlinear inverse dynamics. Automatica 24(4), 471\u2013483 (1988)","journal-title":"Automatica"},{"key":"9416_CR7","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1007\/BF02071065","volume":"37","author":"O Stryk von","year":"1992","unstructured":"von Stryk, O., Bulirsch, R.: Direct and indirect methods for trajectory optimization. Ann. Oper. Res. 37, 357\u2013373 (1992)","journal-title":"Ann. Oper. Res."},{"issue":"3","key":"9416_CR8","doi-asserted-by":"crossref","first-page":"687","DOI":"10.2514\/3.20892","volume":"15","author":"E Sentoh","year":"1992","unstructured":"Sentoh, E., Bryson, A.E.: Inverse and optimal control for desired outputs. J. Guid. Control Dyn. 15(3), 687\u2013691 (1992)","journal-title":"J. Guid. Control Dyn."},{"issue":"5","key":"9416_CR9","doi-asserted-by":"crossref","first-page":"994","DOI":"10.2514\/3.20934","volume":"15","author":"PJ Enright","year":"1992","unstructured":"Enright, P.J., Conway, B.A.: Discrete approximations to optimal trajectories using direct transcription and nonlinear programming. J. Guid. Control Dyn. 15(5), 994\u20131002 (1992)","journal-title":"J. Guid. Control Dyn."},{"issue":"4","key":"9416_CR10","doi-asserted-by":"crossref","first-page":"726","DOI":"10.2514\/3.21073","volume":"16","author":"P Lu","year":"1993","unstructured":"Lu, P.: Inverse dynamics approach to trajectory optimization for an aerospace plane. J. Guid. Control Dyn. 16(4), 726\u2013732 (1993)","journal-title":"J. Guid. Control Dyn."},{"issue":"3","key":"9416_CR11","doi-asserted-by":"crossref","first-page":"480","DOI":"10.2514\/3.21224","volume":"17","author":"H Seywald","year":"1994","unstructured":"Seywald, H.: Trajectory optimization based on differential inclusions. J. Guid. Control Dyn. 17(3), 480\u2013487 (1994)","journal-title":"J. Guid. Control Dyn."},{"issue":"10","key":"9416_CR12","doi-asserted-by":"crossref","first-page":"1793","DOI":"10.1109\/9.467672","volume":"40","author":"J Elnagar","year":"1995","unstructured":"Elnagar, J., Kazemi, M.A., Razzaghi, M.: The pseudospectral legendre method for discretizing optimal control problems. IEEE Trans. Automat. Contr. 40(10), 1793\u20131796 (1995)","journal-title":"IEEE Trans. Automat. Contr."},{"issue":"2","key":"9416_CR13","doi-asserted-by":"crossref","first-page":"418","DOI":"10.2514\/3.21634","volume":"19","author":"R Kumar","year":"1996","unstructured":"Kumar, R., Seywald, H.: Should controls be eliminated while solving optimal control problems via direct methods? J. Guid. Control Dyn. 19(2), 418\u2013423 (1996)","journal-title":"J. Guid. Control Dyn."},{"issue":"2","key":"9416_CR14","doi-asserted-by":"crossref","first-page":"501","DOI":"10.2514\/3.21648","volume":"19","author":"R Kumar","year":"1996","unstructured":"Kumar, R., Seywald, H.: Dense-sparse discretization for optimization and real-time guidance. J. Guid. Control Dyn. 19(2), 501\u2013503 (1996)","journal-title":"J. Guid. Control Dyn."},{"issue":"3","key":"9416_CR15","doi-asserted-by":"crossref","first-page":"592","DOI":"10.2514\/3.21662","volume":"19","author":"AL Herman","year":"1996","unstructured":"Herman, A.L., Conway, B.A.: Direct optimization using collocation based on high-order Gauss\u2013Lobatto quadrature rules. J. Guid. Control Dyn. 19(3), 592\u2013599 (1996)","journal-title":"J. Guid. Control Dyn."},{"issue":"1","key":"9416_CR16","doi-asserted-by":"crossref","first-page":"57","DOI":"10.2514\/2.4033","volume":"20","author":"DG Hull","year":"1997","unstructured":"Hull, D.G.: Conversion of optimal control problems into parameter optimization problems. J. Guid. Control Dyn. 20(1), 57\u201360 (1997)","journal-title":"J. Guid. Control Dyn."},{"key":"9416_CR17","volume-title":"Practical Methods for Optimal Control Using Nonlinear Programming (Advances in Design and Control)","author":"JT Betts","year":"2001","unstructured":"Betts, J.T.: Practical Methods for Optimal Control Using Nonlinear Programming (Advances in Design and Control). Society for Industrial and Applied Mathematics, Philadelphia (2001)"},{"issue":"5","key":"9416_CR18","doi-asserted-by":"crossref","first-page":"780","DOI":"10.2514\/2.4306","volume":"21","author":"BA Conway","year":"1998","unstructured":"Conway, B.A., Larson, K.M.: Collocation versus differential inclusion in direct optimization. J. Guid. Control Dyn. 21(5), 780\u2013785 (1998)","journal-title":"J. Guid. Control Dyn."},{"key":"9416_CR19","unstructured":"Fahroo, F., Ross, I.M.: Computational optimal control by spectral collocation with differential inclusion. In: Proceedings of the 1999 Flight Mechanics Symposium, pp.\u00a0185\u2013200, NASA-Goddard Space Flight Center, Greenbelt, 18\u201320 May 1999"},{"issue":"1","key":"9416_CR20","doi-asserted-by":"crossref","first-page":"131","DOI":"10.2514\/2.4686","volume":"24","author":"F Fahroo","year":"2001","unstructured":"Fahroo, F., Ross, I.M.: A second look at approximating differential inclusions. J. Guid. Control Dyn. 24(1), 131\u2013133 (2001)","journal-title":"J. Guid. Control Dyn."},{"issue":"1","key":"9416_CR21","doi-asserted-by":"crossref","first-page":"160","DOI":"10.2514\/2.4862","volume":"25","author":"F Fahroo","year":"2002","unstructured":"Fahroo, F., Ross, I.M.: Direct trajectory optimization by a Chebyshev pseudospectral method. J. Guid. Control Dyn. 25(1), 160\u2013166 (2002)","journal-title":"J. Guid. Control Dyn."},{"issue":"3","key":"9416_CR22","doi-asserted-by":"crossref","first-page":"397","DOI":"10.2514\/1.3426","volume":"27","author":"F Fahroo","year":"2004","unstructured":"Fahroo, F., Ross, I.M.: Pseudospectral knotting methods for solving nonsmooth optimal control problems. J. Guid. Control Dyn. 27(3), 397\u2013405 (2004)","journal-title":"J. Guid. Control Dyn."},{"key":"9416_CR23","volume-title":"OTIS 3.0 Manual","author":"SW Paris","year":"1996","unstructured":"Paris, S.W., Hargraves, C.R.: OTIS 3.0 Manual. Boeing Space and Defense Group, Seattle (1996)"},{"key":"9416_CR24","volume-title":"Sparse Optimal Control Software SOCS. Mathematics and Engineering Analysis, Technical Document MEA-LR-085","author":"JT Betts","year":"1997","unstructured":"Betts, J.T., Huffman, W.P.: Sparse Optimal Control Software SOCS. Mathematics and Engineering Analysis, Technical Document MEA-LR-085. Boeing Information and Support Services, The Boeing Company, Seattle (1997)"},{"key":"9416_CR25","unstructured":"von Stryk, O.: User\u2019s Guide for DIRCOL (Version 2.1): A Direct Collocation Method for the Numerical Solution of Optimal Control Problems. Fachgebiet Simulation und Systemoptimierung (SIM), Technische Universit\u00e4t Darmstadt (2000)"},{"key":"9416_CR26","unstructured":"Ross, I.M.: User\u2019s Manual for DIDO: A MATLAB Application Package for Solving Optimal Control Problems. Tomlab Optimization Inc., TR 04-01.0 (2004)"},{"key":"9416_CR27","doi-asserted-by":"crossref","unstructured":"Nieuwstadt, M.J., Murray, R.M.: Approximate trajectory generation for differentially flat systems with zero dynamics. In: Proceedings of the 34th IEEE Conference Decision Control, New Orleans, LA, 13\u201315 December 1995","DOI":"10.1109\/CDC.1995.478902"},{"key":"9416_CR28","doi-asserted-by":"crossref","unstructured":"Yakimenko, O., Xu, Y., Basset, G.: Computing short-time aircraft maneuvers using direct methods. In: Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, HI, 18\u201321 August 2008","DOI":"10.2514\/6.2008-6632"},{"key":"9416_CR29","doi-asserted-by":"crossref","unstructured":"Bouabdallah, A., Noth, A., Siegwart, R.: PID Versus LQ control techniques applied to an indoor micro quadrotor. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, 28 September\u20132 October 2004","DOI":"10.1109\/IROS.2004.1389776"},{"key":"9416_CR30","doi-asserted-by":"crossref","unstructured":"Kaminer, I., Yakimenko, O., Pascoal, A.: On path generation, trajectory tracking and coordinated control for time-critical missions of multiple UAVs. In: Proceedings of the IEEE American Control Conference, Minneapolis, MN 14\u201316 June 2006","DOI":"10.1109\/ACC.2006.1657498"},{"key":"9416_CR31","unstructured":"Cowling, I.D., Whidborne, J.F., Cooke, A.K.: Optimal trajectory planning and LQR control for a quadrotor UAV. In: Proceedings of the International Conference Control\u20142006, Glasgow, Scotland, 30 August\u201311 September 2006"},{"key":"9416_CR32","doi-asserted-by":"crossref","unstructured":"Kaminer, I., Yakimenko, O., Dobrokhodov, V., Pascoal, A., Hovakimyan, N., Patel, V., Cao, C., Young, A.: Coordinated path following for time-critical missions of multiple UAVs via L1 adaptive output feedback controllers. In: Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Head, SC, 20\u201323 August 2007","DOI":"10.2514\/6.2007-6409"},{"key":"9416_CR33","volume-title":"Experience on Application of Ritz\u2019s, Poincare\u2019s, and Lyapunov\u2019s Methods in Solving of Flight Dynamics Problems","author":"VT Taranenko","year":"1968","unstructured":"Taranenko, V.T.: Experience on Application of Ritz\u2019s, Poincare\u2019s, and Lyapunov\u2019s Methods in Solving of Flight Dynamics Problems. Air Force Engineering Academy Press, Moscow (1968, in Russian)"},{"key":"9416_CR34","volume-title":"Direct Variational Method in Boundary Problems of Flight Dynamics","author":"VT Taranenko","year":"1968","unstructured":"Taranenko, V.T., Momdzhi, V.G.: Direct Variational Method in Boundary Problems of Flight Dynamics. Mashinostroenie Press, Moscow (1968, in Russian)"},{"key":"9416_CR35","volume-title":"Mathematical Methods of Calculation of Combat, Takeoff\/Climb, and Landing Approach Manoeuvres for the Aircraft with 2-D Thrust Vectoring. Flight Characteristics and Combat Maneuvering of Manned Vehicles","author":"AI Neljubov","year":"1968","unstructured":"Neljubov, A.I.: Mathematical Methods of Calculation of Combat, Takeoff\/Climb, and Landing Approach Manoeuvres for the Aircraft with 2-D Thrust Vectoring. Flight Characteristics and Combat Maneuvering of Manned Vehicles. Air Force Engineering Academy Press, Moscow (1968, in Russian)"},{"issue":"5","key":"9416_CR36","doi-asserted-by":"crossref","first-page":"865","DOI":"10.2514\/2.4616","volume":"23","author":"O Yakimenko","year":"2000","unstructured":"Yakimenko, O.: Direct method for rapid prototyping of near-optimal aircraft trajectories. J. Guid. Control Dyn. 23(5), 865\u2013875 (2000)","journal-title":"J. Guid. Control Dyn."},{"issue":"s\u00e9rie I","key":"9416_CR37","first-page":"619","volume":"315","author":"M Fliess","year":"1992","unstructured":"Fliess, M., Levine, J., Martin, Ph., Rouchon, P.: Sur les Syst\u00e8mes non Lin\u00e9arit\u00e9s Diff\u00e9rentiellement Plats. C. R. Acad. Sci., Paris 315(s\u00e9rie I), 619\u2013624 (1992)","journal-title":"C. R. Acad. Sci., Paris"},{"key":"9416_CR38","unstructured":"Martin, P., Devasia, S., Paden, B.: A different look at output tracking: control of a VTOL aircraft. In: Proceedings of the 33rd IEEE Conference Decision Control, Lake Buena Vista, FL, 14\u201316 December 1994"},{"key":"9416_CR39","doi-asserted-by":"crossref","unstructured":"Milam, M.B., Mushambi, K., Murray, R.: A new computational approach to real-time trajectory generation for constrained mechanical systems. In: Proceedings of the 39th IEEE Conference Decision Control, Sydney, NSW, Australia, 12\u201315 December 2000","DOI":"10.1109\/CDC.2000.912875"},{"key":"9416_CR40","doi-asserted-by":"crossref","unstructured":"Koo, T.J., Sastry, S.: Differential flatness based full authority helicopter design. In: Proceedings of the 38th IEEE Conference Decision Control, Phoenix, AZ, 7\u201310 December 1999","DOI":"10.1109\/CDC.1999.830928"},{"issue":"1","key":"9416_CR41","first-page":"87","volume":"3","author":"L Beji","year":"2005","unstructured":"Beji, L., Abichou, A.: Streamlined rotors mini rotorcraft: trajectory generation and tracking. Int. J. Control Autom. Syst. 3(1), 87\u201399 (2005)","journal-title":"Int. J. Control Autom. Syst."},{"key":"9416_CR42","doi-asserted-by":"crossref","first-page":"375","DOI":"10.1017\/S0263574704000165","volume":"4","author":"BJ Driessen","year":"2004","unstructured":"Driessen, B.J., Robin, A.L.: A globally convergent tracking controller for the X4 Flyer rotor craft for reference trajectories with positive thrust. Robotica 4, 375\u2013388 (2004)","journal-title":"Robotica"},{"key":"9416_CR43","unstructured":"Mathworks\u2019 Real-Time Workshop. http:\/\/www.mathworks.com\/products\/rtw\/"},{"key":"9416_CR44","unstructured":"Cowling, I.D., Whidborne, J.F., Cooke, A.K.: MBPC for autonomous operation of a quadrotor air vehicle. In: Proceedings of the 21st International UAV Systems Conference, Bristol, UK, 3\u20135 April 2006"},{"issue":"4","key":"9416_CR45","doi-asserted-by":"crossref","first-page":"510","DOI":"10.1109\/TCST.2004.825052","volume":"12","author":"P Castillo","year":"2004","unstructured":"Castillo, P., Dzul, A., Lozano, R.: Real-time stabilization and tracking of a four-rotor mini rotorcraft. IEEE Trans. Control Syst. Technol. 12(4), 510\u2013516 (2004)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"9416_CR46","volume-title":"Flight Dynamics Principles","author":"MV Cook","year":"1997","unstructured":"Cook, M.V.: Flight Dynamics Principles. Butterworth Heinemann, Oxford (1997)"},{"key":"9416_CR47","unstructured":"Chelouah, A.: Extensions of differential flat fields and Liouvillian systems. In: Proceedings of the 36th IEEE Conference Decision Control, San Diego, CA, 10\u201312 December 1997"},{"issue":"4","key":"9416_CR48","first-page":"650","volume":"38","author":"DV Alekhin","year":"1999","unstructured":"Alekhin, D.V., Yakimenko, O.A.: Synthesis of optimization algorithm for planned-route flight trajectory by direct variational method. J. Comput. Syst. Sci. Int. 38(4), 650\u2013666 (1999)","journal-title":"J. Comput. Syst. Sci. Int."},{"issue":"2","key":"9416_CR49","first-page":"262","volume":"38","author":"VN Dobrokhodov","year":"1999","unstructured":"Dobrokhodov, V.N., Yakimenko, O.A.: Synthesis of trajectorial control algorithms at the stage of rendezvous of an airplane with a maneuvering object. J. Comput. Syst. Sci. Int. 38(2), 262\u2013277 (1999)","journal-title":"J. Comput. Syst. Sci. Int."},{"key":"9416_CR50","unstructured":"Bevilacqua, R., Yakimenko, O., Romano, M.: On-line generation of quasi-optimal docking trajectories. In: Proceedings of the 7th International Conference On Dynamics and Control of Systems and Structures in Space (DCSSS), Greenwich, London, England, 16\u201320 July 2006"},{"key":"9416_CR51","doi-asserted-by":"crossref","unstructured":"Eikenberry, B., Yakimenko, O., Romano, M.: A vision based navigation among multiple flocking robots: modeling and simulation. In: Proceedings of the AIAA Modeling and Simulation Technologies Conference, Keystone, CO, 21\u201324 August 2006","DOI":"10.2514\/6.2006-6481"},{"key":"9416_CR52","unstructured":"Yakimenko, O.: Direct method for real-time prototyping of optimal control. In: Proceedings of the International Conference Control-2006, Glasgow, Scotland, 30 August\u201311 September 2006"},{"issue":"4","key":"9416_CR53","doi-asserted-by":"crossref","first-page":"333","DOI":"10.1109\/9.192187","volume":"33","author":"J Vlassenbroeck","year":"1988","unstructured":"Vlassenbroeck, J., Van Dooren, R.: A Chebyshev technique for solving nonlinear optimal control problems. IEEE Trans. Automat. Contr. 33(4), 333\u2013340 (1988)","journal-title":"IEEE Trans. Automat. Contr."},{"key":"9416_CR54","unstructured":"Huzmezan, M., Dumont, G.A., Gough, W.A., Kovac, S.: Multivariable Laguerre-based indirect adaptive predictive control a reliable practical solution for process control. In: Proceedings of the IASTED Modeling and Control Conference, Innsbruck, Austria, 18\u201321 February 2001"},{"key":"9416_CR55","doi-asserted-by":"crossref","unstructured":"Boyarko, G., Romano, M., Yakimenko, O.: Time-optimal reorientation of a spacecraft using a direct optimization method based on inverse dynamics. In: Proceedings of the IEEE Aerospace Conference, Big Sky, MT, 6\u201313 March 2010","DOI":"10.1109\/AERO.2010.5446726"},{"key":"9416_CR56","doi-asserted-by":"crossref","unstructured":"Slegers, N., Yakimenko, O.: Optimal control for terminal guidance of autonomous parafoils. In: Proceedings of the 20th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar, Seattle, WA, 4\u20137 May 2009","DOI":"10.2514\/6.2009-2958"},{"key":"9416_CR57","unstructured":"Schilling, R.J., Harris, S.L.: Applied Numerical Methods for Engineers Using MATLAB and C, pp.\u00a0336\u2013337. Brooks\/Cole Publishing Company, Pacific Grove (2000)"},{"key":"9416_CR58","volume-title":"Helicopter Test and Evaluation","author":"AK Cooke","year":"2002","unstructured":"Cooke, A.K., Fitzpatrick, E.: Helicopter Test and Evaluation. Blackwell and QinetiQ, Oxford (2002)"},{"key":"9416_CR59","volume-title":"Mathematical Theory of Optimal Processes","author":"L Pontrjagin","year":"1962","unstructured":"Pontrjagin, L., Boltjanskiy, V., Gamkrelidze, R., Mishenko, E.: Mathematical Theory of Optimal Processes. Interscience, New York (1962)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-010-9416-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-010-9416-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-010-9416-9","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,31]],"date-time":"2023-05-31T21:27:39Z","timestamp":1685568459000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-010-9416-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,4,22]]},"references-count":59,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2010,11]]}},"alternative-id":["9416"],"URL":"https:\/\/doi.org\/10.1007\/s10846-010-9416-9","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,4,22]]}}}