---
OA_place: publisher
_id: '20276'
abstract:
- lang: eng
text: "Complex 3D shapes can be created by morphing flat 2D configurations. Such
deformations\r\neither preserve the intrinsic material geometry (e.g., folding
paper) or modify it through\r\nlocalized contraction. Once transformed, the 3D
shape can be further controlled to achieve a\r\ntarget functionality. A key challenge
is to take the material specifications and the actuation\r\nprocess as input to
automatically design the target 3D shape and its functionality. This thesis\r\npresents
two novel computational pipelines for the design and control of shape-morphing\r\nstructures
used to create functional prototypes.\r\nThe first pipeline borrows from the art
of origami to fold paper into intricate shapes and\r\napplies this principle to
make 3D lighting displays. We introduce, PCBend a computational\r\ndesign approach
that covers a surface with individually addressable RGB LEDs, effectively\r\nforming
a low-resolution surface by folding rigid printed circuit boards (PCBs). We optimize\r\ncut
patterns on PCBs to act as hinges and co-design LED placement, circuit routing,
and\r\nfabrication constraints to produce PCB blueprints. The PCBs are fabricated
using automated\r\nstandard manufacturing services with LEDs embedded on them.
Finally, the fabricated PCBs\r\nare cut along the contour and folded onto a 3D-printed
support. The 3D lighting display is\r\nthen controlled to display complex surface
light patterns.\r\nCreating 3D shapes through folding is only possible if their
planar configuration, called ”unfolding” exists without any distortion or overlap.
Existing methods often permit distortion\r\nor require multiple patches, which
are unsuitable for fabrication pipelines that rely on folding\r\nnon-stretchable
materials. We reinforce such fabrication pipelines by providing a geometric\r\nrelaxation
to the problem, where the input shape is modified to admit overlap-free unfolding.\r\nThe
second fabrication pipeline extends shape morphing to soft robotics by emulating
nature’s\r\nblueprint of distributed actuation. Inspired by vertebrates, we build
musculoskeletal robots\r\nusing modular active actuators, employing Liquid Crystal
Elastomers (LCEs) as shrinkable\r\nartificial muscles integrated with 3D-printed
bones. The chemical composition of LCEs is\r\naltered to enable untethered actuation
through infrared radiation, allowing active control of\r\nindividual muscles and
their corresponding bones. The combined motion of individual bones\r\ndefines
the robot’s overall shape and functionality. Our proposed system significantly
expands\r\nboth the design and control spaces of soft robots, which we harness
using our computational\r\ndesign tools. We build several physical robots that
exhibit complex shape morphing and varied\r\nterrain navigation, showcasing the
versatility of our pipeline.\r\nThis thesis explores applications ranging from
intricate light patterns displayed on 3D shapes\r\nformed by folding rigid PCBs
to untethered robots that use contractile muscles to exhibit\r\nshape morphing
and locomotion. Through these examples, the thesis highlights how computational
design and distributed actuation, integrated with novel materials, can transform\r\npassive
structures into functional prototypes."
acknowledgement: "Financial support was provided by the European Research Council
(ERC) under grant agreement No 715767 - MATERIALIZABLE: Intelligent fabrication-oriented
Computational Design\r\nand Modeling that I gratefully acknowledge.\r\n"
alternative_title:
- ISTA Thesis
article_processing_charge: No
author:
- first_name: Manas
full_name: Bhargava, Manas
id: FF8FA64C-AA6A-11E9-99AD-50D4E5697425
last_name: Bhargava
orcid: 0009-0007-6138-6890
citation:
ama: 'Bhargava M. Design and control of deformable structures: From PCB lighting
displays to elastomer robots. 2025. doi:10.15479/AT-ISTA-20276'
apa: 'Bhargava, M. (2025). Design and control of deformable structures: From
PCB lighting displays to elastomer robots. Institute of Science and Technology
Austria. https://doi.org/10.15479/AT-ISTA-20276'
chicago: 'Bhargava, Manas. “Design and Control of Deformable Structures: From PCB
Lighting Displays to Elastomer Robots.” Institute of Science and Technology Austria,
2025. https://doi.org/10.15479/AT-ISTA-20276.'
ieee: 'M. Bhargava, “Design and control of deformable structures: From PCB lighting
displays to elastomer robots,” Institute of Science and Technology Austria, 2025.'
ista: 'Bhargava M. 2025. Design and control of deformable structures: From PCB lighting
displays to elastomer robots. Institute of Science and Technology Austria.'
mla: 'Bhargava, Manas. Design and Control of Deformable Structures: From PCB
Lighting Displays to Elastomer Robots. Institute of Science and Technology
Austria, 2025, doi:10.15479/AT-ISTA-20276.'
short: 'M. Bhargava, Design and Control of Deformable Structures: From PCB Lighting
Displays to Elastomer Robots, Institute of Science and Technology Austria, 2025.'
corr_author: '1'
date_created: 2025-09-02T14:48:39Z
date_published: 2025-09-02T00:00:00Z
date_updated: 2026-04-07T11:50:10Z
day: '02'
ddc:
- '000'
degree_awarded: PhD
department:
- _id: GradSch
- _id: BeBi
doi: 10.15479/AT-ISTA-20276
ec_funded: 1
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file_name: manas_phd_thesis_source_files.zip
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has_accepted_license: '1'
language:
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month: '09'
oa: 1
oa_version: Published Version
page: '96'
project:
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call_identifier: H2020
grant_number: '715767'
name: 'MATERIALIZABLE: Intelligent fabrication-oriented Computational Design and
Modeling'
publication_identifier:
isbn:
- 978-3-99078-065-7
issn:
- 2663-337X
publication_status: published
publisher: Institute of Science and Technology Austria
related_material:
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status: public
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relation: part_of_dissertation
status: public
- id: '20286'
relation: part_of_dissertation
status: public
status: public
supervisor:
- first_name: Bernd
full_name: Bickel, Bernd
id: 49876194-F248-11E8-B48F-1D18A9856A87
last_name: Bickel
orcid: 0000-0001-6511-9385
title: 'Design and control of deformable structures: From PCB lighting displays to
elastomer robots'
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image: /images/cc_by_nc.png
legal_code_url: https://creativecommons.org/licenses/by-nc/4.0/legalcode
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...
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abstract:
- lang: eng
text: 'We present a computational approach for unfolding 3D shapes isometrically
into the plane as a single patch without overlapping triangles. This is a hard,
sometimes impossible, problem, which existing methods are forced to soften by
allowing for map distortions or multiple patches. Instead, we propose a geometric
relaxation of the problem: We modify the input shape until it admits an overlap‐free
unfolding. We achieve this by locally displacing vertices and collapsing edges,
guided by the unfolding process. We validate our algorithm quantitatively and
qualitatively on a large dataset of complex shapes and show its proficiency by
fabricating real shapes from paper.'
acknowledgement: Researchers from INRIA received support from the DORNELL Inria Challenge.
Silvia Sellán acknowledges support from NSERC Vanier Doctoral Scholarship and an
MIT SoE Postdoctoral Fellowship for Engineering Excellence.
article_number: e15269
article_processing_charge: Yes (via OA deal)
article_type: original
arxiv: 1
author:
- first_name: Manas
full_name: Bhargava, Manas
id: FF8FA64C-AA6A-11E9-99AD-50D4E5697425
last_name: Bhargava
orcid: 0009-0007-6138-6890
- first_name: Camille
full_name: Schreck, Camille
id: 2B14B676-F248-11E8-B48F-1D18A9856A87
last_name: Schreck
- first_name: M.
full_name: Freire, M.
last_name: Freire
- first_name: P. A.
full_name: Hugron, P. A.
last_name: Hugron
- first_name: S.
full_name: Lefebvre, S.
last_name: Lefebvre
- first_name: S.
full_name: Sellán, S.
last_name: Sellán
- first_name: Bernd
full_name: Bickel, Bernd
id: 49876194-F248-11E8-B48F-1D18A9856A87
last_name: Bickel
orcid: 0000-0001-6511-9385
citation:
ama: Bhargava M, Schreck C, Freire M, et al. Mesh simplification for unfolding.
Computer Graphics Forum. 2025;44(1). doi:10.1111/cgf.15269
apa: Bhargava, M., Schreck, C., Freire, M., Hugron, P. A., Lefebvre, S., Sellán,
S., & Bickel, B. (2025). Mesh simplification for unfolding. Computer Graphics
Forum. Wiley. https://doi.org/10.1111/cgf.15269
chicago: Bhargava, Manas, Camille Schreck, M. Freire, P. A. Hugron, S. Lefebvre,
S. Sellán, and Bernd Bickel. “Mesh Simplification for Unfolding.” Computer
Graphics Forum. Wiley, 2025. https://doi.org/10.1111/cgf.15269.
ieee: M. Bhargava et al., “Mesh simplification for unfolding,” Computer
Graphics Forum, vol. 44, no. 1. Wiley, 2025.
ista: Bhargava M, Schreck C, Freire M, Hugron PA, Lefebvre S, Sellán S, Bickel B.
2025. Mesh simplification for unfolding. Computer Graphics Forum. 44(1), e15269.
mla: Bhargava, Manas, et al. “Mesh Simplification for Unfolding.” Computer Graphics
Forum, vol. 44, no. 1, e15269, Wiley, 2025, doi:10.1111/cgf.15269.
short: M. Bhargava, C. Schreck, M. Freire, P.A. Hugron, S. Lefebvre, S. Sellán,
B. Bickel, Computer Graphics Forum 44 (2025).
corr_author: '1'
date_created: 2024-11-19T09:14:32Z
date_published: 2025-02-01T00:00:00Z
date_updated: 2026-04-07T11:50:09Z
day: '01'
ddc:
- '006'
department:
- _id: GradSch
- _id: BeBi
doi: 10.1111/cgf.15269
external_id:
arxiv:
- '2408.06944'
isi:
- '001357046100001'
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creator: mbhargav
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file_date_updated: 2025-04-16T09:06:45Z
has_accepted_license: '1'
intvolume: ' 44'
isi: 1
issue: '1'
keyword:
- fabrication
- single patch unfolding
- mesh simplification
language:
- iso: eng
month: '02'
oa: 1
oa_version: Published Version
publication: Computer Graphics Forum
publication_identifier:
eissn:
- 1467-8659
issn:
- 0167-7055
publication_status: published
publisher: Wiley
quality_controlled: '1'
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relation: dissertation_contains
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scopus_import: '1'
status: public
title: Mesh simplification for unfolding
tmp:
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legal_code_url: https://creativecommons.org/licenses/by-nc/4.0/legalcode
name: Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0)
short: CC BY-NC (4.0)
type: journal_article
user_id: 2DF688A6-F248-11E8-B48F-1D18A9856A87
volume: 44
year: '2025'
...
---
OA_place: repository
_id: '20286'
abstract:
- lang: eng
text: "Natural organisms utilize distributed actuation through their musculoskeletal\r\nsystems
to adapt their gait for traversing diverse terrains or to morph their\r\nbodies
for varied tasks. A longstanding challenge in robotics is to emulate\r\nthis capability
of natural organisms, which has motivated the development of\r\nnumerous soft
robotic systems. However, such systems are generally optimized\r\nfor a single
functionality, lack the ability to change form or function on\r\ndemand, or remain
tethered to bulky control systems. To address these\r\nlimitations, we present
a framework for designing and controlling robots that\r\nutilize distributed actuation.
We propose a novel building block that\r\nintegrates 3D-printed bones with liquid
crystal elastomer (LCE) muscles as\r\nlightweight actuators, enabling the modular
assembly of musculoskeletal robots.\r\nWe developed LCE rods that contract in
response to infrared radiation, thereby\r\nproviding localized, untethered control
over the distributed skeletal network\r\nand producing global deformations of
the robot. To fully capitalize on the\r\nextensive design space, we introduce
two computational tools: one for\r\noptimizing the robot's skeletal graph to achieve
multiple target deformations,\r\nand another for co-optimizing skeletal designs
and control gaits to realize\r\ndesired locomotion. We validate our framework
by constructing several robots\r\nthat demonstrate complex shape morphing, diverse
control schemes, and\r\nenvironmental adaptability. Our system integrates advances
in modular material\r\nbuilding, untethered and distributed control, and computational
design to\r\nintroduce a new generation of robots that brings us closer to the
capabilities\r\nof living organisms."
acknowledgement: "The authors express gratitude to Magali Lorion for assisting in
the initial fabrication of LCEs,\r\nPengbin Tang for providing the code for simulating
discrete elastic rods, the Imaging and\r\nOptics Facility at ISTA for assisting
with the spectrometry measurements, and the MIBA\r\nmachine shop at ISTA for their
support in manufacturing various devices.\r\nFunding: This project was supported
by the European Research Council (ERC) under\r\nthe European Union’s Horizon 2020
research and innovation program (Grant Agreement No.\r\n715767 -– MATERIALIZABLE)."
article_processing_charge: No
arxiv: 1
author:
- first_name: Manas
full_name: Bhargava, Manas
id: FF8FA64C-AA6A-11E9-99AD-50D4E5697425
last_name: Bhargava
orcid: 0009-0007-6138-6890
- first_name: Takefumi
full_name: Hiraki, Takefumi
last_name: Hiraki
- first_name: Irina-Malina
full_name: Strugaru, Irina-Malina
id: 2afc607f-f128-11eb-9611-8f2a0dfcf074
last_name: Strugaru
- first_name: Yuhan
full_name: Zhang, Yuhan
last_name: Zhang
- first_name: Michael
full_name: Piovarci, Michael
id: 62E473F4-5C99-11EA-A40E-AF823DDC885E
last_name: Piovarci
orcid: 0000-0002-5062-4474
- first_name: Chiara
full_name: Daraio, Chiara
last_name: Daraio
- first_name: Daisuke
full_name: Iwai, Daisuke
last_name: Iwai
- first_name: Bernd
full_name: Bickel, Bernd
id: 49876194-F248-11E8-B48F-1D18A9856A87
last_name: Bickel
orcid: 0000-0001-6511-9385
citation:
ama: Bhargava M, Hiraki T, Strugaru I-M, et al. Computational design and fabrication
of modular robots with untethered control. arXiv. doi:10.48550/arXiv.2508.05410
apa: Bhargava, M., Hiraki, T., Strugaru, I.-M., Zhang, Y., Piovarci, M., Daraio,
C., … Bickel, B. (n.d.). Computational design and fabrication of modular robots
with untethered control. arXiv. https://doi.org/10.48550/arXiv.2508.05410
chicago: Bhargava, Manas, Takefumi Hiraki, Irina-Malina Strugaru, Yuhan Zhang, Michael
Piovarci, Chiara Daraio, Daisuke Iwai, and Bernd Bickel. “Computational Design
and Fabrication of Modular Robots with Untethered Control.” ArXiv, n.d.
https://doi.org/10.48550/arXiv.2508.05410.
ieee: M. Bhargava et al., “Computational design and fabrication of modular
robots with untethered control,” arXiv. .
ista: Bhargava M, Hiraki T, Strugaru I-M, Zhang Y, Piovarci M, Daraio C, Iwai D,
Bickel B. Computational design and fabrication of modular robots with untethered
control. arXiv, 10.48550/arXiv.2508.05410.
mla: Bhargava, Manas, et al. “Computational Design and Fabrication of Modular Robots
with Untethered Control.” ArXiv, doi:10.48550/arXiv.2508.05410.
short: M. Bhargava, T. Hiraki, I.-M. Strugaru, Y. Zhang, M. Piovarci, C. Daraio,
D. Iwai, B. Bickel, ArXiv (n.d.).
corr_author: '1'
date_created: 2025-09-04T09:14:11Z
date_published: 2025-08-31T00:00:00Z
date_updated: 2026-04-07T11:50:09Z
day: '31'
department:
- _id: BeBi
doi: 10.48550/arXiv.2508.05410
ec_funded: 1
external_id:
arxiv:
- '2508.05410'
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://doi.org/10.48550/arXiv.2508.05410
month: '08'
oa: 1
oa_version: Preprint
project:
- _id: 24F9549A-B435-11E9-9278-68D0E5697425
call_identifier: H2020
grant_number: '715767'
name: 'MATERIALIZABLE: Intelligent fabrication-oriented Computational Design and
Modeling'
publication: arXiv
publication_status: draft
related_material:
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relation: dissertation_contains
status: public
status: public
title: Computational design and fabrication of modular robots with untethered control
tmp:
image: /images/cc_by.png
legal_code_url: https://creativecommons.org/licenses/by/4.0/legalcode
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type: preprint
user_id: 8b945eb4-e2f2-11eb-945a-df72226e66a9
year: '2025'
...
---
_id: '13049'
abstract:
- lang: eng
text: "We propose a computational design approach for covering a surface with individually
addressable RGB LEDs, effectively forming a low-resolution surface screen. To
achieve a low-cost and scalable approach, we propose creating designs from flat
PCB panels bent in-place along the surface of a 3D printed core. Working with
standard rigid PCBs enables the use of\r\nestablished PCB manufacturing services,
allowing the fabrication of designs with several hundred LEDs. \r\nOur approach
optimizes the PCB geometry for folding, and then jointly optimizes the LED packing,
circuit and routing, solving a challenging layout problem under strict manufacturing
requirements. Unlike paper, PCBs cannot bend beyond a certain point without breaking.
Therefore, we introduce parametric cut patterns acting as hinges, designed to
allow bending while remaining compact. To tackle the joint optimization of placement,
circuit and routing, we propose a specialized algorithm that splits the global
problem into one sub-problem per triangle, which is then individually solved.\r\nOur
technique generates PCB blueprints in a completely automated way. After being
fabricated by a PCB manufacturing service, the boards are bent and glued by the
user onto the 3D printed support. We demonstrate our technique on a range of physical
models and virtual examples, creating intricate surface light patterns from hundreds
of LEDs."
acknowledged_ssus:
- _id: M-Shop
acknowledgement: We thank the reviewers for the valuable feedback. We also thank the
Miba Machine Shop at ISTA, PCBWay, and PragoBoard for helping us with fabrication
and assembly. This project was supported by the European Research Council (ERC)
under the European Union’s Horizon 2020 research and innovation program (Grant Agreement
No. 715767 – MATERIALIZABLE).
article_number: '142'
article_processing_charge: No
article_type: original
author:
- first_name: Marco
full_name: Freire, Marco
last_name: Freire
- first_name: Manas
full_name: Bhargava, Manas
id: FF8FA64C-AA6A-11E9-99AD-50D4E5697425
last_name: Bhargava
orcid: 0009-0007-6138-6890
- first_name: Camille
full_name: Schreck, Camille
id: 2B14B676-F248-11E8-B48F-1D18A9856A87
last_name: Schreck
- first_name: Pierre-Alexandre
full_name: Hugron, Pierre-Alexandre
last_name: Hugron
- first_name: Bernd
full_name: Bickel, Bernd
id: 49876194-F248-11E8-B48F-1D18A9856A87
last_name: Bickel
orcid: 0000-0001-6511-9385
- first_name: Sylvain
full_name: Lefebvre, Sylvain
last_name: Lefebvre
citation:
ama: 'Freire M, Bhargava M, Schreck C, Hugron P-A, Bickel B, Lefebvre S. PCBend:
Light up your 3D shapes with foldable circuit boards. Transactions on Graphics.
2023;42(4). doi:10.1145/3592411'
apa: 'Freire, M., Bhargava, M., Schreck, C., Hugron, P.-A., Bickel, B., & Lefebvre,
S. (2023). PCBend: Light up your 3D shapes with foldable circuit boards. Transactions
on Graphics. Los Angeles, CA, United States: Association for Computing Machinery.
https://doi.org/10.1145/3592411'
chicago: 'Freire, Marco, Manas Bhargava, Camille Schreck, Pierre-Alexandre Hugron,
Bernd Bickel, and Sylvain Lefebvre. “PCBend: Light up Your 3D Shapes with Foldable
Circuit Boards.” Transactions on Graphics. Association for Computing Machinery,
2023. https://doi.org/10.1145/3592411.'
ieee: 'M. Freire, M. Bhargava, C. Schreck, P.-A. Hugron, B. Bickel, and S. Lefebvre,
“PCBend: Light up your 3D shapes with foldable circuit boards,” Transactions
on Graphics, vol. 42, no. 4. Association for Computing Machinery, 2023.'
ista: 'Freire M, Bhargava M, Schreck C, Hugron P-A, Bickel B, Lefebvre S. 2023.
PCBend: Light up your 3D shapes with foldable circuit boards. Transactions on
Graphics. 42(4), 142.'
mla: 'Freire, Marco, et al. “PCBend: Light up Your 3D Shapes with Foldable Circuit
Boards.” Transactions on Graphics, vol. 42, no. 4, 142, Association for
Computing Machinery, 2023, doi:10.1145/3592411.'
short: M. Freire, M. Bhargava, C. Schreck, P.-A. Hugron, B. Bickel, S. Lefebvre,
Transactions on Graphics 42 (2023).
conference:
end_date: 2023-08-10
location: Los Angeles, CA, United States
name: 'SIGGRAPH: Computer Graphics and Interactive Techniques Conference'
start_date: 2023-08-06
corr_author: '1'
date_created: 2023-05-22T08:37:04Z
date_published: 2023-07-26T00:00:00Z
date_updated: 2026-04-07T11:50:09Z
day: '26'
ddc:
- '006'
department:
- _id: GradSch
- _id: BeBi
doi: 10.1145/3592411
ec_funded: 1
external_id:
isi:
- '001044671300108'
file:
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checksum: a0b0ba3b36f43a94388e8824613d812a
content_type: application/pdf
creator: dernst
date_created: 2023-06-19T11:02:23Z
date_updated: 2023-06-19T11:02:23Z
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checksum: b9206bbb67af82df49b7e7cdbde3410c
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creator: dernst
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file_date_updated: 2023-06-20T12:20:51Z
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intvolume: ' 42'
isi: 1
issue: '4'
keyword:
- PCB design and layout
- Mesh geometry models
language:
- iso: eng
month: '07'
oa: 1
oa_version: Submitted Version
project:
- _id: 24F9549A-B435-11E9-9278-68D0E5697425
call_identifier: H2020
grant_number: '715767'
name: 'MATERIALIZABLE: Intelligent fabrication-oriented Computational Design and
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publication: Transactions on Graphics
publication_identifier:
eissn:
- 1557-7368
issn:
- 0730-0301
publication_status: published
publisher: Association for Computing Machinery
quality_controlled: '1'
related_material:
record:
- id: '20276'
relation: dissertation_contains
status: public
scopus_import: '1'
status: public
title: 'PCBend: Light up your 3D shapes with foldable circuit boards'
tmp:
image: /images/cc_by.png
legal_code_url: https://creativecommons.org/licenses/by/4.0/legalcode
name: Creative Commons Attribution 4.0 International Public License (CC-BY 4.0)
short: CC BY (4.0)
type: journal_article
user_id: 8b945eb4-e2f2-11eb-945a-df72226e66a9
volume: 42
year: '2023'
...