{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T06:00:24Z","timestamp":1774591224287,"version":"3.50.1"},"reference-count":44,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T00:00:00Z","timestamp":1682899200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T00:00:00Z","timestamp":1682899200000},"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":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,5]]},"DOI":"10.1007\/s10846-023-01862-x","type":"journal-article","created":{"date-parts":[[2023,5,8]],"date-time":"2023-05-08T13:06:42Z","timestamp":1683551202000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Robot Dynamics Modeling with a Novel Friction Model and Extracted Feasible Parameters Using Constrained Differential Evolution"],"prefix":"10.1007","volume":"108","author":[{"given":"Xingmao","family":"Shao","sequence":"first","affiliation":[]},{"given":"Lun","family":"Xie","sequence":"additional","affiliation":[]},{"given":"Chiqin","family":"Li","sequence":"additional","affiliation":[]},{"given":"Yingjie","family":"Li","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,5,8]]},"reference":[{"issue":"9","key":"1862_CR1","doi-asserted-by":"publisher","first-page":"1575","DOI":"10.1017\/S0263574720001368","volume":"39","author":"X Song","year":"2021","unstructured":"Song, X., Zhao, Y., Chen, C., Zhang, L., Lu, X.: A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot. Robotica 39(9), 1575\u20131587 (2021). https:\/\/doi.org\/10.1017\/S0263574720001368","journal-title":"Robotica"},{"key":"1862_CR2","doi-asserted-by":"publisher","unstructured":"Wang, Y., Liu, L., Chen, J., Ju, F., Chen, B., Wu, H.: Practical robust control of cable-driven robots with feedforward compensation. Adv. Eng. Software. 145, (2020) https:\/\/doi.org\/10.1016\/j.advengsoft.2020.102801","DOI":"10.1016\/j.advengsoft.2020.102801"},{"key":"1862_CR3","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2021.3106648","author":"Z Zhang","year":"2021","unstructured":"Zhang, Z., Chen, Z.: Modeling and Control of Robotic Manipulators Based on Symbolic Regression. IEEE Trans. Neural Netw. Learn. Syst. (2021). https:\/\/doi.org\/10.1109\/TNNLS.2021.3106648","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"4","key":"1862_CR4","doi-asserted-by":"publisher","first-page":"499","DOI":"10.1108\/IR-01-2019-0007","volume":"46","author":"J Xiao","year":"2019","unstructured":"Xiao, J., Zeng, F., Zhang, Q., Liu, H.: Research on the forcefree control of cooperative robots based on dynamic parameters identification. Ind. Robot. 46(4), 499\u2013509 (2019). https:\/\/doi.org\/10.1108\/IR-01-2019-0007","journal-title":"Ind. Robot."},{"issue":"10","key":"1862_CR5","doi-asserted-by":"publisher","first-page":"8112","DOI":"10.1109\/TIE.2018.2803773","volume":"65","author":"C Yang","year":"2018","unstructured":"Yang, C., Jiang, Y., He, W., Na, J., Li, Z., Xu, B.: Adaptive parameter estimation and control design for robot manipulators with finite-time convergence. IEEE Trans. Ind. Electron. 65(10), 8112\u20138123 (2018). https:\/\/doi.org\/10.1109\/TIE.2018.2803773","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1862_CR6","doi-asserted-by":"publisher","unstructured":"Tu, X., Zhao, P., Zhou, Y.F.: Parameter Identification of Static Friction Based on An Optimal Exciting Trajectory. IOP Conference Series: Materials Science and Engineering. 280(1), (2017) https:\/\/doi.org\/10.1088\/1757-899X\/280\/1\/012025","DOI":"10.1088\/1757-899X\/280\/1\/012025"},{"issue":"4","key":"1862_CR7","doi-asserted-by":"publisher","first-page":"4136","DOI":"10.1016\/j.eswa.2010.09.076","volume":"38","author":"Zafer Bingul","year":"2011","unstructured":"Bingul, Zafer, Karahan, Ouzhan: Dynamic identification of Staubli RX-60 robot using PSO and LS methods. Expert Syst. Appl. 38(4), 4136\u20134149 (2011). https:\/\/doi.org\/10.1016\/j.eswa.2010.09.076","journal-title":"Expert Syst. Appl."},{"key":"1862_CR8","doi-asserted-by":"publisher","unstructured":"Gaz, C., Flacco, F., De Luca, A.: Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods. Proceedings - IEEE Int. Conf. Robot. Autom. 2016, 2075\u20132081 (2016) https:\/\/doi.org\/10.1109\/ICRA.2016.7487356","DOI":"10.1109\/ICRA.2016.7487356"},{"key":"1862_CR9","doi-asserted-by":"publisher","unstructured":"Sousa, Cristovao D. and Cortesao, Rui.: Physical feasibility of robot base inertial parameter identification: A linear matrix inequality approach. Int. J. Robot. Res. 33(6), 931\u2013944 (2014) https:\/\/doi.org\/10.1177\/0278364913514870","DOI":"10.1177\/0278364913514870"},{"key":"1862_CR10","doi-asserted-by":"publisher","unstructured":"Gaz, Claudio and Cognetti, Marco and Oliva, Alexander and Giordano, Paolo Robuffo and de Luca, Alessandro: Dynamic identification of the Franka Emika Panda Robot with retrieval of feasible parameters using penalty-based optimization. IEEE Robot. Autom. Lett. 4(4), 4147\u20134154 (2019) https:\/\/doi.org\/10.1109\/LRA.2019.2931248","DOI":"10.1109\/LRA.2019.2931248"},{"key":"1862_CR11","doi-asserted-by":"publisher","unstructured":"Wensing, P.M., Kim, Sangbae and Slotine, J.J.E.: Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution. IEEE Robot. Autom. Lett. 3(1), 60\u201367 (2018) https:\/\/doi.org\/10.1109\/LRA.2017.2729659","DOI":"10.1109\/LRA.2017.2729659"},{"key":"1862_CR12","doi-asserted-by":"publisher","unstructured":"Zhang, Libin and Wang, Jiacai and Chen, Jiaoliao and Chen, Kang and Lin, Bangyang and Xu, Fang.: Dynamic modeling for a 6-DOF robot manipulator based on a centrosymmetric static friction model and whale genetic optimization algorithm. Adv. Eng. Softw. 135, (2019) https:\/\/doi.org\/10.1016\/j.advengsoft.2019.05.006","DOI":"10.1016\/j.advengsoft.2019.05.006"},{"key":"1862_CR13","doi-asserted-by":"publisher","first-page":"138102","DOI":"10.1109\/ACCESS.2020.3012196","volume":"8","author":"S Wang","year":"2020","unstructured":"Wang, S., Shao, X., Yang, L., Liu, N.: Deep Learning Aided Dynamic Parameter Identification of 6-DOF Robot Manipulators. IEEE Access. 8, 138102\u2013138116 (2020). https:\/\/doi.org\/10.1109\/ACCESS.2020.3012196","journal-title":"IEEE Access."},{"key":"1862_CR14","doi-asserted-by":"publisher","unstructured":"Dong, J., Xu, J., Zhou, Q., Zhu, J., Yu, L..: Dynamic Identification of Industrial Robot Based on Nonlinear Friction Model and LS-SOS Algorithm. IEEE Trans. Instrum. Meas. 70, (2021) https:\/\/doi.org\/10.1109\/TIM.2021.3124039","DOI":"10.1109\/TIM.2021.3124039"},{"issue":"10","key":"1862_CR15","doi-asserted-by":"publisher","first-page":"6469","DOI":"10.1109\/TIE.2015.2423660","volume":"62","author":"J Yao","year":"2015","unstructured":"Yao, J., Deng, W., Jiao, Z.: Adaptive control of hydraulic actuators with LuGre model-based friction compensation. IEEE Trans. Ind. Electron. 62(10), 6469\u20136477 (2015). https:\/\/doi.org\/10.1109\/TIE.2015.2423660","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"9","key":"1862_CR16","doi-asserted-by":"publisher","first-page":"3812","DOI":"10.1109\/TII.2018.2789438","volume":"14","author":"L Jin","year":"2018","unstructured":"Jin, L., Li, S., Luo, X., Li, Y., Qin, B.: Neural Dynamics for Cooperative Control of Redundant Robot Manipulators. IEEE Trans. Ind. Inform. 14(9), 3812\u20133821 (2018). https:\/\/doi.org\/10.1109\/TII.2018.2789438","journal-title":"IEEE Trans. Ind. Inform."},{"key":"1862_CR17","doi-asserted-by":"publisher","unstructured":"Gautier, Maxime and Janot, Alexandre and Vandanjon, Pierre-Olivier.: A new closed-loop output error method for parameter identification of robot dynamics. IEEE Trans. Control Syst. Technol. 21(2), 428\u2013444, (2013) https:\/\/doi.org\/10.1109\/TCST.2012.2185697","DOI":"10.1109\/TCST.2012.2185697"},{"key":"1862_CR18","doi-asserted-by":"publisher","unstructured":"Lee, T., Lee, B.D., Park, F.C.: Optimal excitation trajectories for mechanical systems identification. Automatica. 131, (2021) https:\/\/doi.org\/10.1016\/j.automatica.2021.109773","DOI":"10.1016\/j.automatica.2021.109773"},{"key":"1862_CR19","doi-asserted-by":"publisher","unstructured":"Perrusquia, A., Garrido, R., Yu, W.: Stable robot manipulator parameter identification: A closed-loop input error approach. Automatica. 141, (2022) https:\/\/doi.org\/10.1016\/j.automatica.2022.110294","DOI":"10.1016\/j.automatica.2022.110294"},{"key":"1862_CR20","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1016\/j.ins.2020.07.013","volume":"542","author":"IM Ali","year":"2021","unstructured":"Ali, I.M., Essam, D., Kasmarik, K.: Novel binary differential evolution algorithm for knapsack problems. Inf. Sci. 542, 177\u2013194 (2021). https:\/\/doi.org\/10.1016\/j.ins.2020.07.013","journal-title":"Inf. Sci."},{"issue":"1","key":"1862_CR21","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1109\/TEVC.2010.2087271","volume":"15","author":"Y Wang","year":"2011","unstructured":"Wang, Y., Cai, Z., Zhang, Q.: Differential evolution with composite trial vector generation strategies and control parameters. IEEE Trans. Evol. Comput. 15(1), 55\u201366 (2011). https:\/\/doi.org\/10.1109\/TEVC.2010.2087271","journal-title":"IEEE Trans. Evol. Comput."},{"key":"1862_CR22","doi-asserted-by":"publisher","unstructured":"Monfared, M.S., Monabbati, S.E., Kafshgar, A.R..: Pareto-optimal equilibrium points in non-cooperative multi-objective optimization problems. Expert Syst. Appl. 178, (2021) https:\/\/doi.org\/10.1016\/j.eswa.2021.114995","DOI":"10.1016\/j.eswa.2021.114995"},{"key":"1862_CR23","doi-asserted-by":"publisher","unstructured":"Zhang, K., Zhu, J., Zhang, Y., Huang, Q.: Optimization method for linear constraint problems. J. Comput. Sci. 51, (2021) https:\/\/doi.org\/10.1016\/j.jocs.2021.101315","DOI":"10.1016\/j.jocs.2021.101315"},{"key":"1862_CR24","doi-asserted-by":"publisher","unstructured":"Wang, B.C., Li, H.X., Li, J.P., Wang, Y.: Composite Differential Evolution for Constrained Evolutionary Optimization. IEEE Trans. Syst., Man, Cybernetics: Syst. 49(7), 1482\u20131495 (2019) https:\/\/doi.org\/10.1109\/TSMC.2018.2807785","DOI":"10.1109\/TSMC.2018.2807785"},{"key":"1862_CR25","doi-asserted-by":"publisher","unstructured":"Mohammadrezaei Nodeh, S. and Mozaffari, A. and Ghaneh, M. and Bakhtiarinejad, F.: Fabrication of a resonant PEMC sensor using hybrid -constraint lexicographical ranking DE-MSBA with Jacobean approximation. Memetic Comput. 10(2), 209\u2013231 (2018) https:\/\/doi.org\/10.1007\/s12293-017-0235-4","DOI":"10.1007\/s12293-017-0235-4"},{"key":"1862_CR26","doi-asserted-by":"publisher","unstructured":"Balaman, Sebnem Yilmaz.: Investment planning and strategic management of sustainable systems for clean power generation: An -constraint based multi objective modelling approach. J. Clean. Prod. 137, 1179\u20131190 (2016) https:\/\/doi.org\/10.1016\/j.jclepro.2016.07.202","DOI":"10.1016\/j.jclepro.2016.07.202"},{"key":"1862_CR27","doi-asserted-by":"publisher","unstructured":"Wu, Jun and Wang, Jinsong and You, Zheng.: An overview of dynamic parameter identification of robots. Robot. Comput. Integr. Manuf. 26(5), 414\u2013419 (2010) https:\/\/doi.org\/10.1016\/j.rcim.2010.03.013","DOI":"10.1016\/j.rcim.2010.03.013"},{"key":"1862_CR28","doi-asserted-by":"publisher","unstructured":"Afrough, Mohsen and Hanieh, Ahmed Abu.: Identification of Dynamic Parameters and Friction Coefficients: of a Robot with Planar Serial Kinemtic Linkage. J. Intell. Robot Syst: Theory Appl. 94(1), 3\u201313 (2019) https:\/\/doi.org\/10.1007\/s10846-018-0778-8","DOI":"10.1007\/s10846-018-0778-8"},{"key":"1862_CR29","doi-asserted-by":"publisher","unstructured":"Yao, Jianyong and Jiao, Zongxia and Ma, Dawei.: RISE-based precision motion control of DC motors with continuous friction compensation. IEEE Trans. Ind. Electron. 61(12), 7067\u20137075 (2014) https:\/\/doi.org\/10.1109\/TIE.2014.2321344","DOI":"10.1109\/TIE.2014.2321344"},{"issue":"2","key":"1862_CR30","doi-asserted-by":"publisher","first-page":"948","DOI":"10.1109\/TAC.2016.2575827","volume":"62","author":"H Wang","year":"2017","unstructured":"Wang, H.: Adaptive Control of Robot Manipulators with Uncertain Kinematics and Dynamics. IEEE Trans. Autom. Control. 62(2), 948\u2013954 (2017). https:\/\/doi.org\/10.1109\/TAC.2016.2575827","journal-title":"IEEE Trans. Autom. Control."},{"issue":"5\u20138","key":"1862_CR31","doi-asserted-by":"publisher","first-page":"1203","DOI":"10.1007\/s00170-018-2413-z","volume":"99","author":"A Farrage","year":"2018","unstructured":"Farrage, A., Uchiyama, N.: Improvement of motion accuracy and energy consumption of a mechanical feed drive system using a Fourier series-based nonlinear friction model. Int. J. Adv. Manuf. Technol. 99(5\u20138), 1203\u20131214 (2018). https:\/\/doi.org\/10.1007\/s00170-018-2413-z","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"1862_CR32","doi-asserted-by":"publisher","unstructured":"Yin, F.W. and Tian, W.J. and Liu, H.T. and Huang, T. and Chetwynd, D.G.: A screw theory based approach to determining the identifiable parameters for calibration of parallel manipulators. Mech. Mach. Theory. 145, (2020) https:\/\/doi.org\/10.1016\/j.mechmachtheory.2019.103665","DOI":"10.1016\/j.mechmachtheory.2019.103665"},{"issue":"1","key":"1862_CR33","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/j.rcim.2014.06.004","volume":"31","author":"J Jin","year":"2015","unstructured":"Jin, J., Gans, N.: Parameter identification for industrial robots with a fast and robust trajectory design approach. Robot. Comput. Integr. Manuf. 31(1), 21\u201329 (2015). https:\/\/doi.org\/10.1016\/j.rcim.2014.06.004","journal-title":"Robot. Comput. Integr. Manuf."},{"issue":"1\u20134","key":"1862_CR34","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1007\/s00170-018-2868-y","volume":"101","author":"S Kolyubin","year":"2019","unstructured":"Kolyubin, S., Shiriaev, A., Jubien, A.: Consistent kinematics and dynamics calibration of lightweight redundant industrial manipulators. Int. J. Adv. Manuf. Technol. 101(1\u20134), 243\u2013259 (2019). https:\/\/doi.org\/10.1007\/s00170-018-2868-y","journal-title":"Int. J. Adv. Manuf. Technol."},{"issue":"9\u201310","key":"1862_CR35","doi-asserted-by":"publisher","first-page":"6783","DOI":"10.1007\/s00170-022-09781-1","volume":"121","author":"L Scalera","year":"2022","unstructured":"Scalera, L., Giusti, A., Vidoni, R., Gasparetto, A.: Enhancing fluency and productivity in human-robot collaboration through online scaling of dynamic safety zones. Int. J. Adv. Manuf. Technol. 121(9\u201310), 6783\u20136798 (2022). https:\/\/doi.org\/10.1007\/s00170-022-09781-1","journal-title":"Int. J. Adv. Manuf. Technol."},{"issue":"1\u20134","key":"1862_CR36","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1007\/s00170-018-2868-y","volume":"101","author":"S Kolyubin","year":"2019","unstructured":"Kolyubin, S., Shiriaev, A., Jubien, A.: Consistent kinematics and dynamics calibration of lightweight redundant industrial manipulators. Int. J. Adv. Manuf. Technol. 101(1\u20134), 243\u2013259 (2019). https:\/\/doi.org\/10.1007\/s00170-018-2868-y","journal-title":"Int. J. Adv. Manuf. Technol."},{"issue":"3","key":"1862_CR37","doi-asserted-by":"publisher","first-page":"1457","DOI":"10.1007\/s11071-015-2252-5","volume":"82","author":"N Nedic","year":"2015","unstructured":"Nedic, N., Vladimir, S., Vladimir, D.: Optimal control of hydraulically driven parallel robot platform based on firefly algorithm. Nonlinear Dyn. 82(3), 1457\u20131473 (2015). https:\/\/doi.org\/10.1007\/s11071-015-2252-5","journal-title":"Nonlinear Dyn."},{"issue":"18","key":"1862_CR38","doi-asserted-by":"publisher","first-page":"10139","DOI":"10.1002\/rnc.6354","volume":"32","author":"C Zhou","year":"2022","unstructured":"Zhou, C., Tao, H., Chen, Y., Stojanovic, V., Paszke, W.: Robust point-to-point iterative learning control for constrained systems: A minimum energy approach. Int. J. Robust Nonlinear Control. 32(18), 10139\u201310161 (2022). https:\/\/doi.org\/10.1002\/rnc.6354","journal-title":"Int. J. Robust Nonlinear Control."},{"key":"1862_CR39","doi-asserted-by":"publisher","unstructured":"Jiang, Y., Gao, W., Na, J., Zhang, D., H\u00e4m\u00e4l\u00e4inen, T.T., Stojanovic, V., Lewis, F.L.: Value iteration and adaptive optimal output regulation with assured convergence rate. Control Eng. Pract. 121,(2022). https:\/\/doi.org\/10.1016\/j.conengprac.2021.105042","DOI":"10.1016\/j.conengprac.2021.105042"},{"key":"1862_CR40","doi-asserted-by":"publisher","unstructured":"Janot, A., Wensing, P.M.: Sequential semidefinite optimization for physically and statistically consistent robot identification. Control Eng. Pract. 107, (2021). https:\/\/doi.org\/10.1016\/j.conengprac.2020.104699","DOI":"10.1016\/j.conengprac.2020.104699"},{"key":"1862_CR41","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1016\/j.ins.2020.07.013","volume":"542","author":"IM Ali","year":"2021","unstructured":"Ali, I.M., Essam, D., Kasmarik, K.: Novel binary differential evolution algorithm for knapsack problems. Inf. Sci. 542, 177\u2013194 (2021). https:\/\/doi.org\/10.1016\/j.ins.2020.07.013","journal-title":"Inf. Sci."},{"key":"1862_CR42","doi-asserted-by":"publisher","unstructured":"Wu, P., Xu, L, D\u2019Ariano, A., Zhao, Y, Chu, C.: Novel formulations and improved differential evolution algorithm for optimal lane reservation with task merging. IEEE Trans. Intell. Transp. Syst. 23(11), 21329\u201321344 (2022) https:\/\/doi.org\/10.1109\/TITS.2022.3175010","DOI":"10.1109\/TITS.2022.3175010"},{"issue":"8","key":"1862_CR43","doi-asserted-by":"publisher","first-page":"3920","DOI":"10.1109\/TAP.2014.2322880","volume":"62","author":"A Deb","year":"2014","unstructured":"Deb, A., Roy, J.S., Gupta, B.: Performance comparison of differential evolution, particle swarm optimization and genetic algorithm in the design of circularly polarized microstrip antennas. IEEE Trans. Antennas Propag. 62(8), 3920\u20133928 (2014). https:\/\/doi.org\/10.1109\/TAP.2014.2322880","journal-title":"IEEE Trans. Antennas Propag."},{"key":"1862_CR44","doi-asserted-by":"publisher","unstructured":"Nodeh, S Mohammadrezaei and Mozaffari, A and Ghaneh, M and Bakhtiarinejad, F.: Fabrication of a resonant PEMC sensor using hybrid $$\\varepsilon $$-constraint lexicographical ranking DE-MSBA with Jacobean approximation. Memetic Comput. 2(10), 209\u2013231 (2017) https:\/\/doi.org\/10.1007\/s12293-017-0235-4","DOI":"10.1007\/s12293-017-0235-4"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01862-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01862-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01862-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T05:07:44Z","timestamp":1685336864000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01862-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5]]},"references-count":44,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2023,5]]}},"alternative-id":["1862"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01862-x","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,5]]},"assertion":[{"value":"23 October 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 March 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 May 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"5"}}