{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T22:04:32Z","timestamp":1770329072557,"version":"3.49.0"},"reference-count":70,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The article presents the possibility of using a graphics tablet to control an industrial robot. The paper presents elements of software development for offline and online control of a robot. The program for the graphic tablet and the operator interface was developed in C# language in Visual Studio environment, while the program controlling the industrial robot was developed in RAPID language in the RobotStudio environment. Thanks to the development of a digital twin of the real robotic workstation, tests were carried out on the correct functioning of the application in offline mode (without using the real robot). The obtained results were verified in online mode (on a real production station). The developed computer programmes have a modular structure, which makes it possible to easily adapt them to one\u2019s needs. The application allows for changing the parameters of the robot and the parameters of the path drawing. Tests were carried out on the influence of the sampling frequency and the tool diameter on the quality of the reconstructed trajectory of the industrial robot. The results confirmed the correctness of the application. Thanks to the new method of robot programming, it is possible to quickly modify the path by the operator, without the knowledge of robot programming languages. Further research will focus on analyzing the influence of screen resolution and layout scale on the accuracy of trajectory generation.<\/jats:p>","DOI":"10.3390\/s21072439","type":"journal-article","created":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T10:44:01Z","timestamp":1617273841000},"page":"2439","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Controlling an Industrial Robot Using a Graphic Tablet in Offline and Online Mode"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3805-9510","authenticated-orcid":false,"given":"Wojciech","family":"Kaczmarek","sequence":"first","affiliation":[{"name":"Faculty of Mechatronics, Armament and Aerospace, Military University of Technology, Kaliskiego 2 Street, 00-908 Warsaw, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bart\u0142omiej","family":"Lotys","sequence":"additional","affiliation":[{"name":"IRLASER sp. z o. o., Al. Jana Paw\u0142a II 61\/211, 01-031 Warsaw, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1620-6145","authenticated-orcid":false,"given":"Szymon","family":"Borys","sequence":"additional","affiliation":[{"name":"Faculty of Mechatronics, Armament and Aerospace, Military University of Technology, Kaliskiego 2 Street, 00-908 Warsaw, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9922-0350","authenticated-orcid":false,"given":"Dariusz","family":"Laskowski","sequence":"additional","affiliation":[{"name":"Faculty of Electronics, Military University of Technology, Kaliskiego 2 Street, 00-908 Warsaw, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1748-5070","authenticated-orcid":false,"given":"Piotr","family":"Lubkowski","sequence":"additional","affiliation":[{"name":"Faculty of Electronics, Military University of Technology, Kaliskiego 2 Street, 00-908 Warsaw, Poland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,4,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Urrea, C., and Jara, D. (2021). Design, analysis, and comparison of control strategies for an industrial robotic arm driven by a multi-level inverter. Symmetry, 13.","DOI":"10.3390\/sym13010086"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Benotsmane, R., Dud\u00e1s, L., and Kov\u00e1cs, G. (2020). Trajectory optimization of industrial robot arms using a newly elaborated \u201cwhip-lashing\u201d method. Appl. Sci., 10.","DOI":"10.3390\/app10238666"},{"key":"ref_3","unstructured":"Kaczmarek, W., and Panasiuk, J. (2017). Robotyzacja Procesow Produkcyjnych, Wydawnictwo Naukowe PWN."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Borys, S., Kaczmarek, W., and Laskowski, D. (2020). Selection and optimization of the parameters of the robotized packaging process of one type of product. Sensors, 20.","DOI":"10.3390\/s20185378"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Ke, Q., Liu, J., Bennamoun, M., An, S., Sohel, F., and Boussaid, F. (2018). Computer vision for human\u2013machine interaction. Computer Vision For Assistive Healthcare, Elsevier.","DOI":"10.1016\/B978-0-12-813445-0.00005-8"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Zabalza, J., Fei, Z., Wong, C., Yan, Y., Mineo, C., Yang, E., Rodden, T., Mehnen, J., Pham, Q.C., and Ren, J. (2019). Smart sensing and adaptive reasoning for enabling industrial robots with interactive human\u2013robot capabilities in dynamic environments\u2014A case study. Sensors, 19.","DOI":"10.3390\/s19061354"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Laskowski, D., and \u0141ubkowski, K. (2014). Anthropo-technical systems reliability. Saf. Reliab. Methodol. Appl., 435\u2013444.","DOI":"10.1201\/b17399-61"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Dymora, P., and Paszkiewicz, A. (2020). Performance analysis of selected programming languages in the context of supporting decision-making processes for industry 4.0. Appl. Sci., 10.","DOI":"10.3390\/app10238521"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1016\/j.compind.2014.12.008","article-title":"Identification of abnormal events by data monitoring: Application to complex systems","volume":"68","author":"Bect","year":"2015","journal-title":"Comput. Ind."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/j.jmsy.2016.03.001","article-title":"The evolution and future of manufacturing: A review","volume":"39","author":"Esmaeilian","year":"2016","journal-title":"J. Manuf. Syst."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.rcim.2015.12.007","article-title":"Collaborative manufacturing with physical human\u2013robot interaction","volume":"40","author":"Cherubini","year":"2016","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Roy, R.N., Drougard, N., Gateau, T., Dehais, F., and Chanel, C.P.C. (2020). How Can Physiological Computing Benefit Human-Robot Interaction?. Robotics, 9.","DOI":"10.3390\/robotics9040100"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1016\/j.jom.2005.04.001","article-title":"Could lean production job design be intrinsically motivating? Contextual, configurational, and levels-of-analysis issues","volume":"24","author":"Antonakis","year":"2006","journal-title":"J. Oper. Manag."},{"key":"ref_14","first-page":"677","article-title":"The operator 4.0: Human cyber-physical systems & adaptive automation towards human-automation symbiosis work systems","volume":"Volume 488","author":"Romero","year":"2016","journal-title":"IFIP International Conference on Advances in Production Management Systems"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Gorecky, D., Schmitt, M., Loskyll, M., and Z\u00fchlke, D. (2014, January 27\u201330). Human-machine-interaction in the industry 4.0 era. Proceedings of the 2014 12th IEEE International Conference on Industrial Informatics (INDIN 2014), Porto Alegre, Brazil.","DOI":"10.1109\/INDIN.2014.6945523"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"545","DOI":"10.1016\/j.promfg.2017.07.148","article-title":"The Role of Additive Manufacturing in the Era of Industry 4.0","volume":"11","author":"Dilberoglu","year":"2017","journal-title":"Procedia Manuf."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"106385","DOI":"10.1016\/j.tws.2019.106385","article-title":"Modelling and testing of 3D printed cellular structures under quasi-static and dynamic conditions","volume":"145","author":"Kucewicz","year":"2019","journal-title":"Thin-Walled Struct."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"P\u0142atek, P., Rajkowski, K., Cieplak, K., Sarzy\u0144ski, M., Ma\u0142achowski, J., Wo\u017aniak, R., and Janiszewski, J. (2020). Deformation process of 3D printed structures made from flexible material with different values of relative density. Polymers, 12.","DOI":"10.3390\/polym12092120"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Elsisi, M., Mahmoud, K., Lehtonen, M., and Darwish, M.M. (2021). Reliable industry 4.0 based on machine learning and IOT for analyzing, monitoring, and securing smart meters. Sensors, 21.","DOI":"10.3390\/s21020487"},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Kaczmarek, W., Panasiuk, J., Borys, S., Pobudkowska, A., and Majsterek, M. (2020). Analysis of the kinetics of swimming pool water reaction in analytical device reproducing its circulation on a small scale. Sensors, 20.","DOI":"10.3390\/s20174820"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Frank\u00f3, A., Vida, G., and Varga, P. (2020). Reliable identification schemes for asset and production tracking in industry 4.0. Sensors, 20.","DOI":"10.3390\/s20133709"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"\u010cre\u0161nar, R., Poto\u010dan, V., and Nedelko, Z. (2020). Speeding up the implementation of industry 4.0 with management tools: Empirical investigations in manufacturing organizations. Sensors, 20.","DOI":"10.3390\/s20123469"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Kammerer, K., Pryss, R., Hoppenstedt, B., Sommer, K., and Reichert, M. (2020). Process-driven and flow-based processing of industrial sensor data. Sensors, 20.","DOI":"10.3390\/s20185245"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Yangui, S. (2020). A panorama of cloud platforms for iot applications across industries. Sensors, 20.","DOI":"10.3390\/s20092701"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1016\/j.procir.2016.07.041","article-title":"Software-defined Cloud Manufacturing for Industry 4.0","volume":"52","author":"Thames","year":"2016","journal-title":"Procedia CIRP"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1007\/978-981-13-3384-2_10","article-title":"Cloud computing","volume":"Volume 132","author":"Lele","year":"2019","journal-title":"Smart Innovation, Systems and Technologies"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Alsharif, M., and Rawat, D.B. (2021). Study of machine learning for cloud assisted iot security as a service. Sensors, 21.","DOI":"10.3390\/s21041034"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"020026","DOI":"10.1063\/1.5066488","article-title":"Studies on the work characteristics of amperometric free chlorine probes","volume":"Volume 2029","author":"Kaczmarek","year":"2018","journal-title":"AIP Conference Proceedings"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"De Carvalho Chrysostomo, G.G., de Aguiar Vallim, M.V.B., da Silva, L.S., Silva, L.A., and de Aguiar Vallim Filho, A.R. (2020). A Framework for Big Data Analytical Process and Mapping\u2014BAProM: Description of an Application in an Industrial Environment. Energies, 13.","DOI":"10.3390\/en13226014"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"712","DOI":"10.1016\/j.procir.2019.02.025","article-title":"Realizing Virtual Reality Learning Environment for Industry 4.0","volume":"79","author":"Liagkou","year":"2019","journal-title":"Procedia CIRP"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Noghabaei, M., Heydarian, A., Balali, V., and Han, K. (2020). Trend analysis on adoption of virtual and augmented reality in the architecture, engineering, and construction industry. Data, 5.","DOI":"10.3390\/data5010026"},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Doolani, S., Wessels, C., Kanal, V., Sevastopoulos, C., Jaiswal, A., Nambiappan, H., and Makedon, F. (2020). A Review of Extended Reality (XR) Technologies for Manufacturing Training. Technologies, 8.","DOI":"10.3390\/technologies8040077"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1109\/EMR.2019.2927559","article-title":"Addressing Industry 4.0 Cybersecurity Challenges","volume":"47","author":"Culot","year":"2019","journal-title":"IEEE Eng. Manag. Rev."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Gasiba, T.E., Lechner, U., and Pinto-Albuquerque, M. (2020). Cybersecurity challenges in industry: Measuring the challenge solve time to inform future challenges. Information, 11.","DOI":"10.3390\/info11110533"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1007\/s10270-019-00757-6","article-title":"Modeling languages in Industry 4.0: An extended systematic mapping study","volume":"19","author":"Wortmann","year":"2020","journal-title":"Softw. Syst. Model."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Nelles, J., Kuz, S., Mertens, A., and Schlick, C.M. (2016, January 14\u201317). Human-centered design of assistance systems for production planning and control: The role of the human in Industry 4.0. Proceedings of the 2016 IEEE International Conference on Industrial Technology (ICIT), Taipei, Taiwan.","DOI":"10.1109\/ICIT.2016.7475093"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1016\/j.rcim.2011.08.004","article-title":"Recent progress on programming methods for industrial robots","volume":"28","author":"Pan","year":"2012","journal-title":"Robot.-Comput. Integr. Manuf."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"141","DOI":"10.12700\/APH.15.8.2018.8.7","article-title":"Supportive robotic welding system for heavy, small series production with non-uniform welding grooves","volume":"15","author":"Korondi","year":"2018","journal-title":"Acta Polytech. Hung."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1007\/s43154-020-00023-4","article-title":"Advanced Robot Programming: A Review","volume":"1","author":"Zhou","year":"2020","journal-title":"Curr. Robot. Rep."},{"key":"ref_40","unstructured":"Kaczmarek, W., and Panasiuk, J. (2017). Programming Industrial Robots, PWN Scientific Publishing House. (In Polish)."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"457","DOI":"10.1108\/IR-11-2014-0413","article-title":"Manual guidance for industrial robot programming","volume":"42","author":"Massa","year":"2015","journal-title":"Ind. Rob."},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1016\/j.promfg.2017.07.126","article-title":"Walk-through Programming for Industrial Applications","volume":"11","author":"Ferraguti","year":"2017","journal-title":"Procedia Manuf."},{"key":"ref_43","doi-asserted-by":"crossref","unstructured":"Gan, Y., Dai, X., and Li, D. (2013). Off-line programming techniques for multirobot cooperation system. Int. J. Adv. Robot. Syst., 10.","DOI":"10.5772\/56506"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1007\/s10846-018-0823-7","article-title":"Application of Universal Kriging for Calibrating Offline-Programming Industrial Robots","volume":"94","author":"Cai","year":"2019","journal-title":"J. Intell. Robot. Syst. Theory Appl."},{"key":"ref_45","first-page":"1","article-title":"Calibrating workpiece position based on simulated annealing","volume":"24","author":"Yin","year":"2003","journal-title":"Hanjie Xuebao\/Trans. China Weld. Inst."},{"key":"ref_46","unstructured":"ABB (2021, March 14). RobotStudio. Available online: https:\/\/new.abb.com\/products\/robotics\/robotstudio."},{"key":"ref_47","unstructured":"FANUC (2021, March 14). ROBOGUIDE. Available online: https:\/\/www.fanuc.eu\/pl\/en\/robots\/accessories\/roboguide."},{"key":"ref_48","unstructured":"KUKA (2021, March 14). KUKA SIM.Pro. Available online: https:\/\/www.kuka.com\/en-gb\/products\/robotics-systems\/software\/simulation-planning-optimization\/kuka_sim."},{"key":"ref_49","unstructured":"VC (2021, March 14). Visual Components. Available online: https:\/\/www.visualcomponents.com\/de\/."},{"key":"ref_50","unstructured":"Mitsubishi (2021, March 14). RT ToolBox 3. Available online: https:\/\/www.mitsubishielectric.com\/fa\/products\/rbt\/robot\/smerit\/rt3\/index.html."},{"key":"ref_51","doi-asserted-by":"crossref","unstructured":"Kaczmarek, W., Panasiuk, J., Borys, S., and Banach, P. (2020). Industrial robot control by means of gestures and voice commands in offline and online mode. Sensors, 20.","DOI":"10.20944\/preprints202010.0455.v1"},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"581","DOI":"10.1108\/IR-11-2019-0237","article-title":"A novel multi-brand robotic software interface for industrial additive manufacturing cells","volume":"47","author":"Zhu","year":"2020","journal-title":"Ind. Robot."},{"key":"ref_53","doi-asserted-by":"crossref","unstructured":"Ionescu, T.B. (2021). Leveraging graphical user interface automation for generic robot programming. Robotics, 10.","DOI":"10.3390\/robotics10010003"},{"key":"ref_54","unstructured":"(2021, March 14). Robot Operating System. Available online: https:\/\/www.ros.org\/."},{"key":"ref_55","unstructured":"(2021, March 14). RoboDK. Available online: https:\/\/robodk.com\/."},{"key":"ref_56","unstructured":"(2021, March 14). drag&bot. Available online: https:\/\/www.dragandbot.com\/."},{"key":"ref_57","doi-asserted-by":"crossref","first-page":"1362","DOI":"10.1109\/LRA.2018.2798300","article-title":"RAZER-A HRI for Visual Task-Level Programming and Intuitive Skill Parameterization","volume":"3","author":"Steinmetz","year":"2018","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_58","unstructured":"(2021, March 14). Process Simulate. Available online: https:\/\/www.plm.automation.siemens.com\/global\/pl\/products\/tecnomatix\/."},{"key":"ref_59","unstructured":"(2021, March 14). Delmia. Available online: https:\/\/www.3ds.com\/products-services\/delmia\/."},{"key":"ref_60","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1016\/j.imavis.2010.08.006","article-title":"Real-time 3D pointing gesture recognition for mobile robots with cascade HMM and particle filter","volume":"29","author":"Park","year":"2011","journal-title":"Image Vis. Comput."},{"key":"ref_61","first-page":"9791286","article-title":"The Design and Evaluation of an Ergonomic Contactless Gesture Control System for Industrial Robots","volume":"2018","author":"Tang","year":"2018","journal-title":"J. Robot."},{"key":"ref_62","doi-asserted-by":"crossref","unstructured":"Bernier, E., Chellali, R., and Thouvenin, I.M. (2013, January 26\u201329). Human gesture segmentation based on change point model for efficient gesture interface. Proceedings of the IEEE International Conference on Robot and Human Interactive Communication, Gyeongju, Korea.","DOI":"10.1109\/ROMAN.2013.6628456"},{"key":"ref_63","doi-asserted-by":"crossref","unstructured":"Ghonge, E.P., and Kulkarni, M.N. (2017, January 19\u201320). Gesture based control of IRB1520ID using Microsoft\u2019s Kinect. Proceedings of the 2017 2nd International Conference on Communication and Electronics Systems (ICCES 2017), Coimbatore, India.","DOI":"10.1109\/CESYS.2017.8321298"},{"key":"ref_64","doi-asserted-by":"crossref","first-page":"020032","DOI":"10.1063\/1.5092035","article-title":"Integration of robotic arm and vision system with processing software using TCP\/IP protocol in industrial sorting application","volume":"2078","author":"Prusaczyk","year":"2019","journal-title":"AIP Conf. Proc."},{"key":"ref_65","doi-asserted-by":"crossref","first-page":"163","DOI":"10.2478\/meceng-2014-0010","article-title":"Robin heart surgery robotic system. Challenges in mechanical construction, control system and stuff training before first clinical application","volume":"61","author":"Nawrat","year":"2014","journal-title":"Arch. Mech. Eng."},{"key":"ref_66","doi-asserted-by":"crossref","first-page":"618","DOI":"10.1109\/TIE.2008.2005710","article-title":"Implementation of bilateral control system based on acceleration control using FPGA for multi-DOF haptic endoscopic surgery robot","volume":"56","author":"Tanaka","year":"2009","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_67","doi-asserted-by":"crossref","first-page":"293","DOI":"10.1007\/978-3-030-00365-4_35","article-title":"A novel collision avoidance method for serial robots","volume":"Volume 66","author":"Bottin","year":"2019","journal-title":"Mechanisms and Machine Science"},{"key":"ref_68","doi-asserted-by":"crossref","first-page":"102399","DOI":"10.1016\/j.mechatronics.2020.102399","article-title":"Set-based collision avoidance applications to robotic systems","volume":"69","author":"Moe","year":"2020","journal-title":"Mechatronics"},{"key":"ref_69","doi-asserted-by":"crossref","first-page":"1650","DOI":"10.1109\/LRA.2020.2969941","article-title":"Vision-Based Dynamic Virtual Fixtures for Tools Collision Avoidance in Robotic Surgery","volume":"5","author":"Moccia","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_70","unstructured":"Williams, R.L. (2020, August 20). The Delta Parallel Robot: Kinematics Solutions. Available online: https:\/\/www.ohio.edu\/mechanical-faculty\/williams\/html\/PDF\/DeltaKin.pdf."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/7\/2439\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T13:33:32Z","timestamp":1760362412000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/7\/2439"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4,1]]},"references-count":70,"journal-issue":{"issue":"7","published-online":{"date-parts":[[2021,4]]}},"alternative-id":["s21072439"],"URL":"https:\/\/doi.org\/10.3390\/s21072439","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4,1]]}}}