{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T16:56:57Z","timestamp":1777568217612,"version":"3.51.4"},"reference-count":88,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2024,7,19]],"date-time":"2024-07-19T00:00:00Z","timestamp":1721347200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["IIS 1943123"],"award-info":[{"award-number":["IIS 1943123"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["IIS 2212290"],"award-info":[{"award-number":["IIS 2212290"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["212212052"],"award-info":[{"award-number":["212212052"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["211504053"],"award-info":[{"award-number":["211504053"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["390685813"],"award-info":[{"award-number":["390685813"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Packard Foundation Fellowship"},{"DOI":"10.13039\/501100001736","name":"German-Israeli Foundation for Scientific Research and Development","doi-asserted-by":"publisher","award":["I-1339-407.6\/2016"],"award-info":[{"award-number":["I-1339-407.6\/2016"]}],"id":[{"id":"10.13039\/501100001736","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["101034255"],"award-info":[{"award-number":["101034255"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2024,7,19]]},"abstract":"<jats:p>This paper develops a shape space framework for collision-aware geometric modeling, where basic geometric operations automatically avoid inter-penetration. Shape spaces are a powerful tool for surface modeling, shape analysis, nonrigid motion planning, and animation, but past formulations permit nonphysical intersections. Our framework augments an existing shape space using a repulsive energy such that collision avoidance becomes a first-class property, encoded in the Riemannian metric itself. In turn, tasks like intersection-free shape interpolation or motion extrapolation amount to simply computing geodesic paths via standard numerical algorithms. To make optimization practical, we develop an adaptive collision penalty that prevents mesh self-intersection, and converges to a meaningful limit energy under refinement. The final algorithms apply to any category of shape, and do not require a dataset of examples, training, rigging, nor any other prior information. For instance, to interpolate between two shapes we need only a single pair of meshes with the same connectivity. We evaluate our method on a variety of challenging examples from modeling and animation.<\/jats:p>","DOI":"10.1145\/3658174","type":"journal-article","created":{"date-parts":[[2024,7,19]],"date-time":"2024-07-19T14:47:57Z","timestamp":1721400477000},"page":"1-22","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":7,"title":["Repulsive Shells"],"prefix":"10.1145","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8069-4713","authenticated-orcid":false,"given":"Josua","family":"Sassen","sequence":"first","affiliation":[{"name":"University of Bonn, Bonn, Germany"},{"name":"\u00c9cole Normale Sup\u00e9rieure Paris-Saclay, Gif-sur-Yvette, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8700-5570","authenticated-orcid":false,"given":"Henrik","family":"Schumacher","sequence":"additional","affiliation":[{"name":"Chemnitz University of Technology, Chemnitz, Germany"},{"name":"University of Georgia, Athens, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6049-9390","authenticated-orcid":false,"given":"Martin","family":"Rumpf","sequence":"additional","affiliation":[{"name":"University of Bonn, Bonn, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2772-7034","authenticated-orcid":false,"given":"Keenan","family":"Crane","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, United States of America"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2024,7,19]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201381"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2018.8619596"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1017\/S030821050002014X"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1021010526495"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/1576246.1531359"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1137\/21M1440001"},{"key":"e_1_2_2_7_1","volume-title":"A short course on fast multipole methods. Wavelets, multilevel methods and elliptic PDEs 1","author":"Beatson Rick","year":"1997","unstructured":"Rick Beatson and Leslie Greengard. 1997. A short course on fast multipole methods. Wavelets, multilevel methods and elliptic PDEs 1 (1997), 1--37."},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000043755.93987.aa"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276439"},{"key":"e_1_2_2_10_1","first-page":"194","article-title":"Differential inclusions and optimal control","volume":"169","author":"Blagodatskikh Viktor Ivanovich","year":"1985","unstructured":"Viktor Ivanovich Blagodatskikh and Aleksei Fedorovich Filippov. 1985. Differential inclusions and optimal control. Trudy Mat. Inst. Steklov 169 (1985), 194--252.","journal-title":"Trudy Mat. Inst. Steklov"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1142\/S1793525313500131"},{"key":"e_1_2_2_12_1","unstructured":"Vincent Borrelli Roland Denis Francis Lazarus M\u00e9lanie Theilli\u00e8re and Boris Thibert. 2023. The Hyperbolic Plane in E3. arXiv:2303.12449 [math.DG]"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1118478109"},{"key":"e_1_2_2_14_1","volume-title":"1st OpenSG Symposium","volume":"18","author":"Botsch Mario","year":"2002","unstructured":"Mario Botsch, Stephan Steinberg, Stephan Bischoff, and Leif Kobbelt. 2002. OpenMesh-a generic and efficient polygon mesh data structure. In 1st OpenSG Symposium, Vol. 18."},{"key":"e_1_2_2_15_1","volume-title":"Convex optimization","author":"Boyd Stephen P","unstructured":"Stephen P Boyd and Lieven Vandenberghe. 2004. Convex optimization. Cambridge university press."},{"key":"e_1_2_2_16_1","volume-title":"A simple energy function for knots. Topology and its Applications 61, 3","author":"Buck Gregory","year":"1995","unstructured":"Gregory Buck and Jeremey Orloff. 1995. A simple energy function for knots. Topology and its Applications 61, 3 (1995)."},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201276"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/2185520.2185565"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1090\/noti1578"},{"key":"e_1_2_2_20_1","volume-title":"Direct Methods for Sparse Linear Systems","author":"Davis T. A.","unstructured":"T. A. Davis. 2006. Direct Methods for Sparse Linear Systems. SIAM, Philadelphia, PA."},{"key":"e_1_2_2_21_1","first-page":"1","article-title":"DiffPD","volume":"41","author":"Du Tao","year":"2021","unstructured":"Tao Du, Kui Wu, Pingchuan Ma, Sebastien Wah, Andrew Spielberg, Daniela Rus, and Wojciech Matusik. 2021. DiffPD: Differentiable Projective Dynamics. ACM Trans. Graph. 41, 2 (2021), 1--21.","journal-title":"Differentiable Projective Dynamics. ACM Trans. Graph."},{"key":"e_1_2_2_22_1","volume-title":"Hamiltonian Dynamics for Real-World Shape Interpolation. In European Conference on Computer Vision. 179--196","author":"Eisenberger Marvin","year":"2020","unstructured":"Marvin Eisenberger and Daniel Cremers. 2020. Hamiltonian Dynamics for Real-World Shape Interpolation. In European Conference on Computer Vision. 179--196."},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2021.11.235"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/3450626.3459757"},{"key":"e_1_2_2_25_1","volume-title":"Variational methods for nonsmooth mechanics","author":"Fetecau Razvan Constantin","unstructured":"Razvan Constantin Fetecau. 2003. Variational methods for nonsmooth mechanics. California Institute of Technology."},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMI.2004.831793"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.2307\/2946626"},{"key":"e_1_2_2_28_1","volume-title":"A f\u00eate of topology","author":"Fukuhara Shinji","unstructured":"Shinji Fukuhara. 1988. Energy of a knot. In A f\u00eate of topology. Elsevier, 443--451."},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570254"},{"key":"e_1_2_2_30_1","doi-asserted-by":"crossref","unstructured":"Russell Gayle Paul Segars Ming C Lin and Dinesh Manocha. 2005b. Path planning for deformable robots in complex environments. In Robotics: science and systems. 225--232.","DOI":"10.15607\/RSS.2005.I.030"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.96.9.4769"},{"key":"e_1_2_2_32_1","volume-title":"Discrete Shells. In Proceedings of the 2003 ACM SIGGRAPH\/Eurographics Symposium on Computer Animation. Eurographics Association, 62--67","author":"Grinspun Eitan","year":"2003","unstructured":"Eitan Grinspun, Anil N. Hirani, Mathieu Desbrun, and Peter Schr\u00f6der. 2003. Discrete Shells. In Proceedings of the 2003 ACM SIGGRAPH\/Eurographics Symposium on Computer Animation. Eurographics Association, 62--67."},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/3592417"},{"key":"e_1_2_2_34_1","unstructured":"Ga\u00ebl Guennebaud Beno\u00eet Jacob et al. 2010. Eigen V3. (2010). http:\/\/eigen.tuxfamily.org"},{"key":"e_1_2_2_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/2070781.2024171"},{"key":"e_1_2_2_36_1","unstructured":"Behrend Heeren. 2017. Numerical methods in shape spaces and optimal branching patterns. Ph. D. Dissertation. Universit\u00e4ts-und Landesbibliothek Bonn."},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12450"},{"key":"e_1_2_2_38_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12968"},{"key":"e_1_2_2_39_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2012.03180.x"},{"key":"e_1_2_2_40_1","unstructured":"Behrend Heeren and Josua Sassen. 2020. The Geometric Optimization and Simulation Toolbox (GOAST). https:\/\/gitlab.com\/numod\/goast"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.13500"},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1090\/mcom\/3775"},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/3130800.3130895"},{"key":"e_1_2_2_44_1","unstructured":"Hermann Karcher. 2014. Riemannian center of mass and so called karcher mean. arXiv:1407.2087"},{"key":"e_1_2_2_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/1186822.1073295"},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276457"},{"key":"e_1_2_2_47_1","doi-asserted-by":"crossref","unstructured":"Holger Klein No\u00e9mie Jaquier Andre Meixner and Tamim Asfour. 2023. On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds. arXiv:2307.15440","DOI":"10.1109\/IROS55552.2023.10341266"},{"key":"e_1_2_2_48_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1385-7258(55)50075-8"},{"key":"e_1_2_2_49_1","unstructured":"Robert B Kusner and John M Sullivan. 1994. M\u00f6bius Energies for Knots and Links Surfaces and Submainfolds. Citeseer."},{"key":"e_1_2_2_50_1","volume-title":"M\u00f6bius-invariant knot energies. Ideal knots 19","author":"Kusner Robert B","year":"1998","unstructured":"Robert B Kusner and John M Sullivan. 1998. M\u00f6bius-invariant knot energies. Ideal knots 19 (1998), 315--352."},{"key":"e_1_2_2_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/3450626.3459753"},{"key":"e_1_2_2_52_1","article-title":"Incremental Potential Contact: Intersection-and Inversion-Free","volume":"39","author":"Li Minchen","year":"2020","unstructured":"Minchen Li, Zachary Ferguson, Teseo Schneider, Timothy Langlois, Denis Zorin, Daniele Panozzo, Chenfanfu Jiang, and Danny M. Kaufman. 2020. Incremental Potential Contact: Intersection-and Inversion-Free, Large-Deformation Dynamics. ACM Trans. Graph. 39, 4 (2020), 20 pages.","journal-title":"Large-Deformation Dynamics. ACM Trans. Graph."},{"key":"e_1_2_2_53_1","unstructured":"Minchen Li Zachary Ferguson Teseo Schneider Timothy Langlois Denis Zorin Daniele Panozzo Chenfanfu Jiang and Danny M Kaufman. 2023. Convergent Incremental Potential Contact. arXiv:2307.15908"},{"key":"e_1_2_2_54_1","doi-asserted-by":"publisher","DOI":"10.1145\/3450626.3459767"},{"key":"e_1_2_2_55_1","first-page":"1","article-title":"Difficloth: Differentiable cloth simulation with dry frictional contact","volume":"42","author":"Li Yifei","year":"2022","unstructured":"Yifei Li, Tao Du, Kui Wu, Jie Xu, and Wojciech Matusik. 2022. Difficloth: Differentiable cloth simulation with dry frictional contact. ACM Trans. Graph. 42, 1 (2022), 1--20.","journal-title":"ACM Trans. Graph."},{"key":"e_1_2_2_56_1","doi-asserted-by":"publisher","DOI":"10.1145\/3503250"},{"key":"e_1_2_2_57_1","volume-title":"Statistical methods in computational anatomy. Statistical methods in medical research 6, 3","author":"Miller Michael","year":"1997","unstructured":"Michael Miller, Ayananshu Banerjee, Gary Christensen, Sarang Joshi, Navin Khaneja, Ulf Grenander, and Larissa Matejic. 1997. Statistical methods in computational anatomy. Statistical methods in medical research 6, 3 (1997), 267--299."},{"key":"e_1_2_2_58_1","series-title":"Lecture Notes in Computer Science","volume-title":"Curves and Surfaces","author":"M\u00f6bius Jan","unstructured":"Jan M\u00f6bius and Leif Kobbelt. 2012. OpenFlipper: An Open Source Geometry Processing and Rendering Framework. In Curves and Surfaces. Lecture Notes in Computer Science, Vol. 6920. Springer, 488--500."},{"key":"e_1_2_2_59_1","volume-title":"Nonsmooth mechanics and Applications","author":"Moreau Jean J","unstructured":"Jean J Moreau. 1988. Unilateral contact and dry friction in finite freedom dynamics. In Nonsmooth mechanics and Applications. Springer, 1--82."},{"key":"e_1_2_2_60_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0925-7721(02)00097-4"},{"key":"e_1_2_2_61_1","doi-asserted-by":"publisher","DOI":"10.1002\/cav.246"},{"key":"e_1_2_2_62_1","doi-asserted-by":"publisher","DOI":"10.1145\/2766907"},{"key":"e_1_2_2_63_1","doi-asserted-by":"publisher","DOI":"10.2307\/1969840"},{"key":"e_1_2_2_64_1","volume-title":"Wright","author":"Nocedal Jorge","year":"2006","unstructured":"Jorge Nocedal and Stephen J. Wright. 2006. Numerical optimization (second ed.). Springer, New York. xxii+664 pages."},{"key":"e_1_2_2_65_1","doi-asserted-by":"publisher","DOI":"10.1016\/0040-9383(91)90010-2"},{"key":"e_1_2_2_66_1","volume-title":"Level set methods and dynamic implicit surfaces","author":"Osher Stanley","unstructured":"Stanley Osher and Ronald P Fedkiw. 2005. Level set methods and dynamic implicit surfaces. Vol. 1. Springer New York."},{"key":"e_1_2_2_67_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642072"},{"key":"e_1_2_2_68_1","doi-asserted-by":"publisher","DOI":"10.1093\/imanum\/dru027"},{"key":"e_1_2_2_69_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cagd.2020.101829"},{"key":"e_1_2_2_70_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.14073"},{"key":"e_1_2_2_71_1","doi-asserted-by":"publisher","DOI":"10.1145\/3132705"},{"key":"e_1_2_2_72_1","unstructured":"Henrik Schumacher. 2023. Repulsor. https:\/\/github.com\/HenrikSchumacher\/Repulsor"},{"key":"e_1_2_2_73_1","volume-title":"Data-Free Learning of Reduced-Order Kinematics. In ACM SIGGRAPH 2023 Conference Proceedings. 1--9.","author":"Sharp Nicholas","year":"2023","unstructured":"Nicholas Sharp, Cristian Romero, Alec Jacobson, Etienne Vouga, Paul Kry, David IW Levin, and Justin Solomon. 2023. Data-Free Learning of Reduced-Order Kinematics. In ACM SIGGRAPH 2023 Conference Proceedings. 1--9."},{"key":"e_1_2_2_74_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12220-011-9275-z"},{"key":"e_1_2_2_75_1","unstructured":"John M Sullivan. 1999. \"The Optiverse\" and other sphere eversions. arXiv:math\/9905020"},{"key":"e_1_2_2_76_1","doi-asserted-by":"publisher","DOI":"10.1145\/1073204.1073218"},{"key":"e_1_2_2_77_1","unstructured":"William Thurston Silvio Levy Delle Maxwell Tamara Munzner Nathaniel Thurston Stuart Levy David Ben-Zvi Daeron Meyer Adam Deaton Dan Krech Matt Headrick Mark Phillips Celeste Fowler Charlie Gunn Stephanie Mason Linus Upson Scott Wisdom Karen McNenny and Paul de Cordova. 1994. Outside In. The Geometry Center."},{"key":"e_1_2_2_78_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1709025114"},{"key":"e_1_2_2_79_1","doi-asserted-by":"publisher","DOI":"10.1145\/2729972"},{"key":"e_1_2_2_80_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2012.03153.x"},{"key":"e_1_2_2_81_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-010-0416-9"},{"key":"e_1_2_2_82_1","doi-asserted-by":"publisher","DOI":"10.5555\/1218064.1218067"},{"key":"e_1_2_2_83_1","doi-asserted-by":"publisher","DOI":"10.1140\/epje\/s10189-021-00099-6"},{"key":"e_1_2_2_84_1","doi-asserted-by":"publisher","DOI":"10.1145\/3386569.3392375"},{"key":"e_1_2_2_85_1","doi-asserted-by":"crossref","unstructured":"Laurent Younes. 2010. Shapes and Diffeomorphisms. Springer.","DOI":"10.1007\/978-3-642-12055-8"},{"key":"e_1_2_2_86_1","doi-asserted-by":"publisher","DOI":"10.1145\/3478513.3480504"},{"key":"e_1_2_2_87_1","doi-asserted-by":"publisher","DOI":"10.1145\/3439429"},{"key":"e_1_2_2_88_1","doi-asserted-by":"publisher","DOI":"10.1145\/3130800.3130820"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3658174","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3658174","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3658174","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T00:05:54Z","timestamp":1750291554000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3658174"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,7,19]]},"references-count":88,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2024,7,19]]}},"alternative-id":["10.1145\/3658174"],"URL":"https:\/\/doi.org\/10.1145\/3658174","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,7,19]]},"assertion":[{"value":"2024-07-19","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}