{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T15:12:23Z","timestamp":1784128343706,"version":"3.55.0"},"reference-count":95,"publisher":"SAGE Publications","issue":"5-7","license":[{"start":{"date-parts":[[2018,2,8]],"date-time":"2018-02-08T00:00:00Z","timestamp":1518048000000},"content-version":"vor","delay-in-days":365,"URL":"http:\/\/www.sagepub.com\/licence-information-for-chorus"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS- 1330072"],"award-info":[{"award-number":["CNS- 1330072"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS-1305287"],"award-info":[{"award-number":["CNS-1305287"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000181","name":"Air Force Office of Scientific Research","doi-asserted-by":"publisher","award":["FA8750- 14-1-0070"],"award-info":[{"award-number":["FA8750- 14-1-0070"]}],"id":[{"id":"10.13039\/100000181","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000181","name":"Air Force Office of Scientific Research","doi-asserted-by":"publisher","award":["FA9550-14-1-0087"],"award-info":[{"award-number":["FA9550-14-1-0087"]}],"id":[{"id":"10.13039\/100000181","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["21C184-01"],"award-info":[{"award-number":["21C184-01"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2017,6]]},"abstract":"<jats:p>Recent progress in both AI and robotics have enabled the development of general purpose robot platforms that are capable of executing a wide variety of complex, temporally extended service tasks in open environments. This article introduces a novel, custom-designed multi-robot platform for research on AI, robotics, and especially human\u2013robot interaction for service robots. Called BWIBots, the robots were designed as a part of the Building-Wide Intelligence (BWI) project at the University of Texas at Austin. The article begins with a description of, and justification for, the hardware and software design decisions underlying the BWIBots, with the aim of informing the design of such platforms in the future. It then proceeds to present an overview of various research contributions that have enabled the BWIBots to better (a) execute action sequences to complete user requests, (b) efficiently ask questions to resolve user requests, (c) understand human commands given in natural language, and (d) understand human intention from afar. The article concludes with a look forward towards future research opportunities and applications enabled by the BWIBot platform.<\/jats:p>","DOI":"10.1177\/0278364916688949","type":"journal-article","created":{"date-parts":[[2017,2,8]],"date-time":"2017-02-08T05:16:47Z","timestamp":1486531007000},"page":"635-659","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":66,"title":["BWIBots: A platform for bridging the gap between AI and human\u2013robot interaction research"],"prefix":"10.1177","volume":"36","author":[{"given":"Piyush","family":"Khandelwal","sequence":"first","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shiqi","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"},{"name":"Department of EECS, Cleveland State University, OH, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jivko","family":"Sinapov","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matteo","family":"Leonetti","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"},{"name":"School of Computing, University of Leeds, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jesse","family":"Thomason","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fangkai","family":"Yang","sequence":"additional","affiliation":[{"name":"Schlumberger Software Technology, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ilaria","family":"Gori","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maxwell","family":"Svetlik","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Priyanka","family":"Khante","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Vladimir","family":"Lifschitz","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J. K.","family":"Aggarwal","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Raymond","family":"Mooney","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peter","family":"Stone","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Texas at Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2017,2,8]]},"reference":[{"key":"bibr1-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1145\/1922649.1922653"},{"key":"bibr2-0278364916688949","first-page":"421","volume-title":"Proceedings of the conference on empirical methods in natural language processing (EMNLP)","author":"Artzi Y","year":"2011"},{"key":"bibr3-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-40564-8_13"},{"key":"bibr4-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1017\/S1471068408003645"},{"key":"bibr5-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2013.6766501"},{"key":"bibr6-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-04238-6_29"},{"key":"bibr7-0278364916688949","first-page":"130","volume-title":"RoboCup 2014: Robot World Cup XVIII","author":"Chen K","year":"2014"},{"key":"bibr8-0278364916688949","first-page":"989","volume-title":"International conference on autonomous agents and multiagent systems (AAMAS)","author":"Chen X","year":"2010"},{"key":"bibr9-0278364916688949","volume-title":"International Conference on Logical Programming (ICLP)","author":"Chen X","year":"2012"},{"issue":"2","key":"bibr10-0278364916688949","first-page":"100","volume":"1","author":"Chen X","year":"2012","journal-title":"Journal of Human\u2013Robot Interaction"},{"key":"bibr11-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-11973-1_9"},{"key":"bibr12-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1177\/001316446002000104"},{"key":"bibr13-0278364916688949","unstructured":"Coltin B, Veloso MM, Ventura R (2011) Dynamic user task scheduling for mobile robots. In: Automated Action Planning for Autonomous Mobile Robots. AAAI 2011 Workshop on Automated Action Planning for Autonomous Mobile Robots. San Francisco, California, 7 August 2011. AAAI Press. Available from: http:\/\/www.aaai.org\/ocs\/index.php\/WS\/AAAIW11\/paper\/view\/3855"},{"key":"bibr14-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2010.938502"},{"key":"bibr15-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1148"},{"key":"bibr16-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-012-0119-x"},{"key":"bibr17-0278364916688949","doi-asserted-by":"crossref","unstructured":"Erdem E, Patoglu V (2012) Applications of action languages in cognitive robotics. In: Correct Reasoning: Essays on Logic-Based AI in Honour of Vladimir Lifschitz. pp.229\u2013246. Berlin, Heidelberg:Springer Berlin Heidelberg, Available at: http:\/\/dx.doi.org\/10.1007\/978-3-642-30743-0_16","DOI":"10.1007\/978-3-642-30743-0_16"},{"key":"bibr18-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1017\/S1471068413000525"},{"key":"bibr19-0278364916688949","unstructured":"Finger J (1986) Exploiting Constraints in Design Synthesis. PhD Thesis, Stanford University, Palo Alto, CA, USA."},{"key":"bibr20-0278364916688949","first-page":"343","volume-title":"Proceedings of the 16th national conference on artificial intelligence and the eleventh innovative applications of artificial intelligence conference innovative applications of artificial intelligence (AAAI \u201899\/IAAI \u201999)","author":"Fox D","year":"1999"},{"key":"bibr21-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15675-5_32"},{"key":"bibr22-0278364916688949","doi-asserted-by":"publisher","DOI":"10.3233\/AIC-2011-0491"},{"key":"bibr23-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9781139342124"},{"key":"bibr24-0278364916688949","first-page":"1070","volume-title":"Proceedings of the international logic programming conference and symposium (ICLP\/SLP)","author":"Gelfond M","year":"1988"},{"key":"bibr25-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/BF03037169"},{"key":"bibr26-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2002.12.001"},{"key":"bibr27-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-25554-5_23"},{"key":"bibr28-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889486"},{"key":"bibr29-0278364916688949","unstructured":"Hanheide M, G\u00f6belbecker M, Horn GS, (2015) Robot task planning and explanation in open and uncertain worlds. Artificial Intelligence. Available at: http:\/\/www.sciencedirect.com\/science\/article\/pii\/S000437021500123X"},{"key":"bibr30-0278364916688949","doi-asserted-by":"crossref","unstructured":"Harnad S (1990) The symbol grounding problem. Physica D: Nonlinear Phenomena42(1): 335\u2013346.","DOI":"10.1016\/0167-2789(90)90087-6"},{"key":"bibr31-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631224"},{"key":"bibr32-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1705"},{"key":"bibr33-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1613\/jair.855"},{"key":"bibr34-0278364916688949","volume-title":"Proceedings of the international joint conference on artificial intelligence (IJCAI)","author":"Hussein ME","year":"2013"},{"key":"bibr35-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/BF00133570"},{"key":"bibr36-0278364916688949","first-page":"1625","volume-title":"Proceedings of the 2015 international conference on autonomous agents and multiagent systems","author":"Khandelwal P","year":"2015"},{"key":"bibr37-0278364916688949","first-page":"65","volume-title":"Proceedings of the AAAI spring 2014 symposium on qualitative representations for robots","author":"Khandelwal P","year":"2014"},{"key":"bibr38-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v24i1.13671"},{"key":"bibr39-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389727"},{"key":"bibr40-0278364916688949","author":"Kollar T","year":"2013","journal-title":"Robotics: Science and systems"},{"key":"bibr41-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631186"},{"key":"bibr42-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1162\/tacl_a_00220"},{"key":"bibr43-0278364916688949","first-page":"1","volume-title":"Proceedings of the international conference on advanced robotics (ICAR 2009)","author":"Kuindersma SR","year":"2009"},{"key":"bibr44-0278364916688949","first-page":"983","volume-title":"Proceedings of the international joint conference on artificial intelligence (IJCAI). ISBN978-1-57735-633-2","author":"Lee J","year":"2013"},{"key":"bibr45-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2016.07.004"},{"key":"bibr46-0278364916688949","first-page":"1594","volume-title":"Proceedings of the 23rd national conference on artificial intelligence (AAAI\u201908)","volume":"3","author":"Lifschitz V","year":"2008"},{"key":"bibr47-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"bibr48-0278364916688949","doi-asserted-by":"crossref","unstructured":"Luber M, Arras KO (2013) Multi-hypothesis social grouping and tracking for mobile robots. In: Proceedings of Robotics: Science and systems. Berlin, Germany. 24\u201328 June 2013, Newman Paul, Fox Dieter, Hsu David (eds.), vol.9. Available at: http:\/\/www.roboticsproceedings.org\/rss09\/index.html","DOI":"10.15607\/RSS.2013.IX.001"},{"key":"bibr49-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509725"},{"key":"bibr50-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-60085-2_17"},{"key":"bibr51-0278364916688949","first-page":"2556","volume-title":"Proceedings of the 28th AAAI conference on artificial intelligence","author":"Matuszek C","year":"2014"},{"key":"bibr52-0278364916688949","first-page":"1671","volume-title":"Proceedings of the 29th international conference on machine learning","volume":"2","author":"Matuszek C","year":"2012"},{"key":"bibr53-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-00065-7_28"},{"key":"bibr54-0278364916688949","first-page":"463","volume-title":"Machine Intelligence","author":"McCarthy J","year":"1969"},{"key":"bibr55-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139027"},{"key":"bibr56-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-014-9385-0"},{"issue":"3","key":"bibr57-0278364916688949","first-page":"241","volume-title":"Annals of Mathematics and Artificial Intelligence","volume":"25","author":"Niemel\u00e4 I","year":"1999"},{"key":"bibr58-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.98"},{"key":"bibr59-0278364916688949","first-page":"1895","volume-title":"Proceedings of the 24th international joint conference on artificial intelligence. Buenos Aires","author":"Parde N","year":"2015"},{"key":"bibr60-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v27i1.8475"},{"key":"bibr61-0278364916688949","doi-asserted-by":"publisher","DOI":"10.4324\/9781410603623"},{"key":"bibr62-0278364916688949","unstructured":"Quigley M, Conley K, Gerkey B, (2009) ROS: An open-source robot operating system. In: ICRA workshop on open source software, volume 3. p.5. Available from: http:\/\/www.osrfoundation.org\/publications\/http:\/\/www.robotics.stanford.edu~ang\/papers\/icraoss09-ROS.pdf"},{"key":"bibr63-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.291936"},{"key":"bibr64-0278364916688949","doi-asserted-by":"crossref","unstructured":"Quintero E, Garcia-Olaya \u00c1, Borrajo D, (2011) Control of autonomous mobile robots with automated planning. Journal of Physical Agents. 5(1): 3\u201313. Available at: http:\/\/www.jopha.net\/article\/view\/2011-v5-n1-control-of-autonomous-mobile-robots-with-automated-planning.","DOI":"10.14198\/JoPha.2011.5.1.02"},{"key":"bibr65-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354526"},{"key":"bibr66-0278364916688949","first-page":"915","volume-title":"Proceedings of the 9th international conference on autonomous agents and multiagent systems","volume":"1","author":"Rosenthal S","year":"2010"},{"key":"bibr67-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152473"},{"key":"bibr68-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980567"},{"key":"bibr69-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696462"},{"key":"bibr70-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.352"},{"key":"bibr71-0278364916688949","author":"Simonyan K","year":"2014","journal-title":"arXiv Preprint"},{"key":"bibr72-0278364916688949","first-page":"3462","volume-title":"Proceedings of the 25th international joint conference on artificial intelligence (IJCAI)","author":"Sinapov J","year":"2016"},{"key":"bibr73-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.10.007"},{"key":"bibr74-0278364916688949","unstructured":"The SPENCER Project (2016) Available at: http:\/\/www.spencer.eu\/."},{"key":"bibr75-0278364916688949","first-page":"1909","volume-title":"Proceedings of the 24th international joint conference on artificial intelligence","author":"Spranger M","year":"2015"},{"key":"bibr76-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2012.2200561"},{"key":"bibr77-0278364916688949","unstructured":"Stonier D, Lee J, Kim H (2015) Robotics in concert. Available at: http:\/\/www.robotconcert.org\/."},{"key":"bibr78-0278364916688949","unstructured":"The STRANDS Project (2016) Available at: http:\/\/strands.acin.tuwien.ac.at\/."},{"key":"bibr79-0278364916688949","unstructured":"Taylor P, Black AW, Caley R (1998) The architecture of the festival speech synthesis system. Third ESCA\/COCOSDA Workshop on Speech Synthesis Jenolan Caves House, Blue Mountains, NSW, Australia, 26\u201329 November 1998, Available at: http:\/\/www.isca-speech.org\/archive_open\/ssw3\/ssw3_305.html"},{"key":"bibr80-0278364916688949","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.024"},{"key":"bibr81-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1609\/aimag.v32i4.2384"},{"key":"bibr82-0278364916688949","first-page":"961","volume-title":"Proceedings of the international joint conference on artificial intelligence (IJCAI)","author":"Thi\u00e9baux S","year":"2003"},{"key":"bibr83-0278364916688949","first-page":"3477","volume-title":"Proceedings of the 25th international joint conference on artificial intelligence (IJCAI)","author":"Thomason J","year":"2016"},{"key":"bibr84-0278364916688949","first-page":"1923","volume-title":"Proceedings of the 24th international joint conference on artificial intelligence (IJCAI)","author":"Thomason J","year":"2015"},{"key":"bibr85-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942731"},{"key":"bibr86-0278364916688949","first-page":"4423","volume-title":"The Twenty-Ninth AAAI Conference on Artificial Intelligence","author":"Veloso M","year":"2015"},{"key":"bibr87-0278364916688949","unstructured":"Walker W, Lamere P, Kwok P, (2004) Sphinx-4: A flexible open source framework for speech recognition. SMLI TR-2004-139, Mountain View, CA, USA: Sun Microsystems, Inc., Available from: http:\/\/dl.acm.org\/citation.cfm?id=1698193"},{"key":"bibr88-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1075\/is.10.3.06wis"},{"key":"bibr89-0278364916688949","first-page":"20","volume-title":"Proceedings of the IEEE conference on computer vision and pattern recognition workshop (CVPRW)","author":"Xia L","year":"2011"},{"key":"bibr90-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/WACV.2015.54"},{"key":"bibr91-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2012.2225812"},{"key":"bibr92-0278364916688949","unstructured":"Zhang S, Jiang Y, Sharon G, (2016) Multirobot symbolic planning under temporal uncertainty. In: IJCAI\u201916 workshop on autonomous mobile service robots. New York City, NY, USA, 11 July 2016, Available at: https:\/\/www.cs.utexas.edu\/~pstone\/Papers\/bib2html-links\/WSR16-szhang2.pdf"},{"key":"bibr93-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2422531"},{"key":"bibr94-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v29i1.9385"},{"key":"bibr95-0278364916688949","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-23264-5_42"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364916688949","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364916688949","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364916688949","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364916688949","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:33Z","timestamp":1777457733000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364916688949"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,2,8]]},"references-count":95,"journal-issue":{"issue":"5-7","published-print":{"date-parts":[[2017,6]]}},"alternative-id":["10.1177\/0278364916688949"],"URL":"https:\/\/doi.org\/10.1177\/0278364916688949","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,2,8]]}}}