CN102164089A - Routing-based IETM (Interactive Electronic Technical Manual) fault diagnosis recording and playback device and method - Google Patents
Routing-based IETM (Interactive Electronic Technical Manual) fault diagnosis recording and playback device and method Download PDFInfo
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Abstract
The invention provides a routing-based IETM (Interactive Electronic Technical Manual) fault diagnosis recording and playback device and method. The device comprises a reasoning memorizer, a playback actuator and a routing table storage structure, wherein the reasoning memorizer records all factor information generated in the fault diagnosis process and comprises a reasoning trigger module, a factor information extracting and filtering module and a factor information storage module; the playback actuator obtains relevant information in a routing table and simultaneously invokes event condition information in an IETM database for performing re-driving process; then, specific event scene contents are assembled as required; the playback actuator comprises a route searching module and an event re-driving and scene assembling module; and the routing table storage module stores relevant data and provides structure description of data storage. During the daily use of equipment, personnel training and troubleshooting, the device and the method can effectively guide equipment users and maintainers to learn and master maintenance, repairing and fault diagnosis.
Description
Technical field
What the present invention relates to is that a kind of route technology of utilizing is carried out the incident addressing and driven the implementation method of reappearing with scene content again the dynamic process that carries out failure diagnosis according to fault tree in IETM (interactive electronic technical manual).
Background technology
1. interactive electronic technical manual
The eighties in 20th century, US military expands, consults difficult problems such as difficulty for technical manual and the technical documentation quantity that solves equipment, the notion of interactive electronic technical manual (Interactive Electronic Technical Manual is hereinafter to be referred as IETM) has been proposed.Interactive electronic technical manual is actually and can shows the digitizing technique handbook of reading and can realizing work such as man-machine interaction inquiry, fault detect at computer or other electronic installations.Be mainly used in logistics support work such as the training of instructing equipment or other large complicated products, use, maintenance, maintenance, by digitizing technique information, support the computer software and the technical information memory carrier of man-machine interworking to form.
2. interactive electronic technical manual relevant criterion
For guaranteeing the sound development of IETM, its exploitation behavior of standard solves information-based assets of IETM and data integration problem, and relevant criterion and standard are arisen at the historic moment.
A. U.S. army's standard
Standardizing body of U.S. Department of Defense has successively issued " interactive electronic technical manual Versatile content, pattern, form and user interactions require " two versions of MIL-PRF-87268A, MIL-DTL-87268C in nineteen ninety-five to 2007 year, propose the standardization requirement of mutual electronic technical manual, and stipulated the common requirement of Versatile content, pattern and the user interaction characteristics of interactive electronic technical manual; The same period, " revisable interactive electronic technical manual database " MIL-PRF-87269A, MIL-DTL-87269C two versions of promulgation were formulated general data requirement, make each technical information representation of data storage in database not be subjected to restriction soft, hardware, can the cross-platform exchanges data of carrying out.Wherein the fault element has been instructed effectively the writing task of failure diagnostic process at determining aspect the structural model; Issued that MIL-HDBK-511 " interactive electronic technical manual interoperability " implements to whip as IETM in May, 2000, aspects such as system configuration, information flow, user network, interactive interface, communication security, infrastructure construction to associating IETM architecture (JIA) have proposed the unified standard suggestion, for the development of based on network association type IETM is laid a good foundation.
B. European standard
Technical publications international standard S1000D standard by the common issue of European Aero-Space and defence TIA (ASD), Aerospace Industries Association of America (AIA) and Associated Press state ATA (ATA) is an IETM standard that is applicable to all weaponrys, civilian traffic instrument and equipment, and its content has contained IETM from generation, the exchange of digitizing technique information with manage generation, renewal and the version management of IETM publication at interior all processes among CSDB (common source database).The structured data request that this standard has been formulated the failure diagnostic process record simultaneously can the auxiliary equipment maintenance person carry out failure diagnosis and isolation in conjunction with the external experts system.This standard has been upgraded to S1000D4.0 at present.
C. China's standard evolution
After 2000, along with the development of information technology and external advanced and mature IETM establishment with browse entering of software, national defence industries such as aviation, boats and ships, weapons have taken the lead in actively developing the development work of IETM.At present, China IETM research work has entered Rapid development stage, and corresponding national standards and military standard have all been formulated and finished.China had successively issued GB/T 24463 " interactive electronic technical manual national standard " and GJB 6600 " interactive electronic technical manual GJB " in 2008 to 2009.Wherein, GB/T 24463 comprises: interoperability architecture, user interface and functional requirement, three parts of common source Database Requirements, GJB 6600 comprises general provisions, data module coding and information Control coding, pattern, four parts of data dictionary.These two standards all to IETM aspect function and the data organization, especially standard and guidance have all been carried out in failure diagnosis data model aspect.
3. fault tree analysis technology
The most important functional characteristics of IETM be can by with the diagnosis capability of carrying out equipment fault alternately of user or external system.Fault diagnosis technology is the variation of research equipment running state information, and then whether the identification equipment running status is normal, position and character, the trouble-shooting reason of discovery and definite fault, predict fault trend and propose the comprehensive engineering of Corresponding Countermeasures.And the fault tree analysis technology is to finish the major technique of failure diagnosis in the information aspect.
The fault tree analysis technology is that top event is as the target of analyzing with a undesirable system failure incident (or the danger of catastrophic system), press the fault causal logic of level analyzes by strictness, successively find out the necessary and sufficient immediate cause of event of failure, finally looked for all reasons and the reason combination that cause top event to take place.This technology mainly is divided into two kinds of qualitative analysis and quantitative analyses.
The fault tree analysis technology can instruct failure diagnostic process effectively.This process is write down with the playback activity and can not only provide effective means for the workmanship that improves the maintenance and repair personnel, and can provide abundant information data for fault tree analysis work, analytical effect further improves and the optimization diagnostic procedure thereby improve.
Summary of the invention
The object of the present invention is to provide a kind of the IETM failure diagnosis record and playback reproducer based on route that can instruct equipment O﹠M personnel to carry out maintenance and repair and failure diagnosis work effectively.The present invention also aims to provide a kind of IETM failure diagnosis record and back method based on route.
The object of the present invention is achieved like this:
IETM failure diagnosis record based on route of the present invention comprises reasoning memory, playback actuator and routing table storage structure with playback reproducer; Described reasoning memory comprises successively reasoning igniter module, element information extraction and filtering module and the element information storage module that the digital signal with the computer program definition connects, and all kinds of element informations that produced in the record trouble diagnostic procedure are imported the routing table storage structures; Described routing table storage structure comprises that one jumps event node ID, this node event id, next jumping event node ID and event-driven data set, stores all kinds of element informations, the structrual description of deposit data is provided and offers the playback actuator; Described playback actuator comprises that successively route search module, incident that the digital signal with the computer program definition connects drive and the scene Knockdown block again, obtain relevant information in the routing table, call in the IETM database event condition information simultaneously and drive processing again, then concrete incident scene content is assembled on request.
IETM failure diagnosis record based on route of the present invention with back method is: form failure diagnosis record and playback reproducer by reasoning memory, playback actuator and three parts of routing table storage structure; Described reasoning memory comprises reasoning igniter module, element information extraction and filtering module and element information storage module, all kinds of element informations that produced in the record trouble diagnostic procedure; Described playback actuator comprises that route search module, incident drive and the scene Knockdown block again, obtains relevant information in the routing table, calls in the IETM database event condition information simultaneously and drives processing again, then concrete incident scene content is assembled on request; Described routing table storage structure stores related data, and the structrual description of deposit data is provided.
IETM failure diagnosis record based on route of the present invention can also comprise some features like this with back method:
1. the method for all kinds of element informations that produced in the described reasoning memory record trouble diagnostic procedure is:
A) the reasoning igniter module is embedded in the interactive electronic technical manual reader system as the trigger equipment of failure diagnosis record with the playback system function, the generation of real-time detection fault diagnosis reasoning action, the course of work of reasoning igniter module is: when perception has the reasoning action to take place, suspend the reasoning action immediately and preserve on-the-spot, notifying element information to extract with the filtering module incident immediately takes place, and receive element information and extract the feedback information number that successfully starts with filtering module and enter operating state, after determining that element information extraction and filtering module preparation finish, the work of the on-the-spot permission of reduction reasoning failure diagnosis is proceeded;
B) element information extracts with filtering module and receives the data that the fault diagnosis reasoning process produces, extract and filter, data are assembled in order to later-stage utilization, the course of work that element information extracts with filtering module is: after obtaining coming from the reasoning trigger notice that the fault diagnosis reasoning action takes place is arranged, initialization at once, and notice reasoning trigger has entered standby condition, element information extracts the relevant information that receives in the reasoning process in real time to be produced by the interface with the interactive electronic technical manual reader with filtering module, to in these information, extract and filtration comprises and is used to drive reasoning, record reasoning process route and definition event condition are at interior useful information, and carry out the assembling of certain form, send to the element information storage module and further handle;
C) the element information storage module is resolved by element information and is extracted the data of sending with filtering module, and it is stored in the middle of the routing table storage structure, for carrying out playback process, the playback actuator prepares necessary data, the concrete course of work of element information storage module is: after receiving by the data that element information extracts and filtering module sends, good data structure is resolved to utilize agreement earlier, obtain useful information, then with of the requirement of described useful information according to the routing table storage structure, data are injected in the storage carrier successively, revise simultaneously the last one dependency structure content of jumping in the routing table where necessary, make the complete performance reasoning process of routing table energy.
2. the course of work of described playback actuator is:
A) the route search module is directly resolved the routing table storage structure, carries out route search from the routing table storage structure, finds next to jump the incident address;
B) incident is driven with the scene Knockdown block carries out incident again and is driven assembling with scene again, its concrete course of work is: at first extract event-driven information by the incident address of route search module location from the routing table storage structure, and utilize its driving that incident is carried out once more to handle, promptly activate the occurrence condition of this incident; Submitting to the interactive electronic technical manual reader after the scene information of the described incident of extraction is assembled from the fault tree database then represents to the user.
3. described routing table storage structure model is:
Wherein: PID: be a last jumping event node ID; LID: be this node event id; NID: for next jumps event node ID; DDS: be the event-driven data set.
The present invention realized in failure diagnosis to the record of reasoning process and the method for playback, can in getting rid of, daily use, staff training and the fault of equipment can instruct equipment O﹠M personnel to carry out the study and the grasp of maintenance and repair and failure diagnosis effectively.Utilize the search in route technology implementation procedure path technically, simultaneously reference list data structure and relational data model has realized a kind of storage structure of data from interconnection technique.Under the prerequisite that meets this data-storing structure, the concrete carrier of storage there is no specific (special) requirements, and its flexibility makes this structure Design have stronger extended capability.
Description of drawings
Fig. 1 is a system construction drawing of the present invention;
Fig. 2 is a method schematic diagram of the present invention;
Fig. 3 is a workflow diagram of the present invention.
Embodiment
For a more detailed description below in conjunction with accompanying drawing to the present invention.
This method comprises reasoning memory, playback actuator and three parts of routing table storage structure on the whole.
1. described reasoning memory is used for all kinds of element informations that the record trouble diagnostic procedure is produced.Specifically comprise the reasoning igniter module, element information extraction and filtering module and element information storage module.
A) described reasoning igniter module will be embedded in the interactive electronic technical manual reader system as the trigger equipment of failure diagnosis record with the playback system function, the generation of real-time detection fault diagnosis reasoning action.Its course of work is as follows:
When perception has such reasoning action to take place, suspend the reasoning action immediately and preserve on-the-spotly, notify element information to extract immediately and take place, and receive the feedback information number that this module successfully starts and enter operating state with the filtering module incident.After determining that element information extraction and filtering module preparation finish, the work of the on-the-spot permission of reduction reasoning failure diagnosis is proceeded;
B) described element information extraction is to receive the data that the fault diagnosis reasoning process produces with the task of filtering module, extracts also filtration, and the data of using in the inventive method are assembled in order to later-stage utilization.Its course of work is as follows:
Obtaining coming from the reasoning trigger, the notice that fault diagnosis reasoning operation takes place is arranged after, initialization at once, and notice reasoning trigger has entered standby condition.The relevant information that this module receives in the reasoning process to be produced by the interface with the interactive electronic technical manual reader in real time.This module will extract in these information and filtration comprises and is used to drive reasoning, and record reasoning process route and definition event condition be at interior useful information, and carry out the assembling of certain form, send to the element information storage module and further handle;
C) the main effect of described element information storage module is to resolve by element information to extract the data of sending with filtering module, and it is stored in the middle of the routing table storage structure, prepares necessary data for the playback actuator carries out playback process.Its concrete course of work is as follows:
After receiving by the data that element information extracts and filtering module sends, good data structure is resolved must to utilize agreement earlier, to obtain useful information.With they requirements, data are injected in the storage carrier successively then according to the routing table storage structure.Revise simultaneously the last one dependency structure content of jumping in the routing table where necessary, make the complete performance reasoning process of routing table energy.
2. described playback actuator is used for obtaining the routing table relevant information, calls in the IETM database event condition information simultaneously and drives processing again, then concrete incident scene content is assembled on request, for IETM reader displaying process is got ready.Comprise that specifically route search module, incident drive and the scene Knockdown block again.
A) the main effect of described route search module is directly to resolve the routing table storage structure, carries out route search from the routing table storage structure, finds next to jump the incident address.
B) described incident is driven with the scene Knockdown block again and is carried out two groundworks, promptly incident drive assembling with scene again, its concrete course of work is as follows:
At first from the routing table storage structure, extract event-driven information, and utilize its driving that incident is carried out once more to handle, promptly activate the occurrence condition of this incident by the incident address of route search module location; Submitting to the interactive electronic technical manual reader after this module scene information of extracting this incident from the fault tree database is assembled then represents to the user.
3. described routing table storage structure is used to store related data that the inventive method uses, and the structrual description of deposit data is provided.It can semi-structured formatted data file or the form of relevant database table exist, which kind of storage form no matter, its structure all should realize structure described in the present invention.Be as concrete storage form in the system that this method realized with the relevant database table.This structural model is briefly described below:
This structure is in conjunction with the route technology in the network, and the marriage chain list data structure is reduced to the form of two-dimensional structure, and its form class is as shown in table 1:
Table 1 routing table storage structure schematic diagram
Wherein
PID: be a last jumping event node ID
LID: be this node event id
NID: for next jumps event node ID
DDS: be the event-driven data set
The value of this structure by NID and PID embodied the advantage of chained list form data structure from type of attachment in this structure, also stored the routing iinformation data simultaneously.
Figure 1 shows that system construction drawing of the present invention, comprising:
The reasoning memory is used for all kinds of element informations that the record trouble diagnostic procedure is produced.It comprises: as the reasoning igniter module of failure diagnosis record with playback system function trigger equipment; Receive the also extraction and the filtering module of each element information of handling failure diagnostic reasoning process generation; Resolve and store the information storage module of this process element information.
The playback actuator is used to obtain relevant route, incident and scene information, offers the IETM reader after the tissue treatment and shows.It comprises the route search module of determining the diagnostic procedure node; The incident of driving incident again and assembling scene content is driven and the scene Knockdown block again.
The routing table storage structure is the storage structure with route technology in the network and linked list data structure tissue, is used for depositing the related data in order to the playback failure diagnostic process.
Figure 2 shows that method schematic diagram of the present invention, further specify the specific implementation process of this method below in conjunction with workflow diagram shown in Figure 3.
The recording process of fault diagnosis reasoning process:
1. the triggering of fault diagnosis reasoning system
When the user utilizes the IETM reader to carry out the fault diagnosis reasoning activity, the reasoning igniter module that is embedded in the reader will be triggered.Actual triggering form is at the fault diagnosis reasoning program of the reader invoked procedure to the trigger instance objects.By trigger is sent the beginning that the fault tree identification number is notified a certain reasoning process:
FaultTreeID=fault tree ID number [the NUMBER type i of unique identification fault tree D number]
Caller stops all operations at this moment, waits for feedback signal.
Return callBackOK=true|false[Boolean type]
After being the value of feedback of " true " when the value of receiving, caller continues to carry out failure diagnosis work.
Call element information after the reasoning igniter module is triggered and extract and the filtering module instance objects, by the work beginning.This instance objects begins preparation, starts relative program and prepares to receive the relevant information of being sent by reader, sends feedback signal to caller simultaneously, and this signal is identical in feedback signal callBackOK.
2. the extraction of element information and filtration
The IETM reader can extract and filtering module program process of transmitting information to element information according to defined interface routine in reasoning process progressively.For the standard interface and better extensibility is arranged, the data object form that this information data is organized with the XML structure exists, and this structure is as follows:
After modular program receives this event information data, resolve this XML structure, data content and the implication therefrom obtained are as shown in table 2:
The lexical or textual analysis of table 2 event information and the XML table of comparisons
Through element information extract with filtering module assembling processing after data will be with nested key-value pair structure, and exist with the object form, its structure is as shown in table 3:
Table 3 element information extracts and filtering module data set assembling structure
3. the storage of factor data
The factor data storage module utilizes recurrence to travel through this structure after receiving the data of the structure of describing by table 3, for raising the efficiency in traversal data is inserted in the described routing table storage structure of table 1.When inserting data, will do following concrete work:
A) the NID value with a last jumping figure certificate in the routing table is updated to eventid value in this secondary data, and extracts the LID value of this record;
B) insert a new record in routing table, the LID of this record is the eventid value in this secondary data; PID is the LID value of an acquired last jumping record;
C) insert respectively being worth among the obj.drigrop to the DDS of new record, and meet separation with " | ", each obj.drigrop value group meets with " [] " includes;
D) when traversing a plurality of obj.drigrop, with data c set by step) process carry out and append operation;
E) when traversing obj.condgrop,, do not append operation if do not exist then to carry out if existed data of the same name then to abandon among the DDS.
The replayed section of fault diagnosis reasoning process:
1. determine the incident of pre-playback
This process is finished by the route search module, in fact is exactly the sign that finds the incident of answering playback by route data.Its principle is: if first incident of playback, then event identifier does not exist; If not first incident, then this module will be defined as a last event identifier (PID) as the route search condition with the sign of the incident of firm playback.The process of search is according to known pid value, and finding this sign of answering the incident of playback fast with the equivalent condition of PID in database table is LID.
2. playback definite event
This process is specifically driven with the scene Knockdown block by incident again and is finished, and is divided into two processes: incident drive assembling with scene again, detailed process is as follows:
A) process of driving again of incident
The mechanism that the IETM reader carries out fault diagnosis reasoning be the driving parameters imported during to the interactive action of external user or system carry out with or door and logical operation determine the reasoning path.Therefore want to reproduce the scene of a certain incident, must carry out this computing, the process of promptly driving again again.This module will be utilized with the rapid same process of previous step and obtain the DDS data in the current routing iinformation record in the routing table storage structure.Utilize the assembling rule of these data then, utilize " [] " and " | " character to carry out fractionation work successively, and submit to IETM reader inference procedure, and obtain the contextual data of this incident with the key-value pair form described in the table 3.
B) assembling process of scene
This process can send to the IETM reader program to show with encapsulate the present event sign once more on the contextual data that obtains.Wherein, the form of contextual data by the IETM reader program with the XML formal definition, wherein can comprise incident described relevant with task " task names ", " estimating the time of implementation ", " levels of maintenance ", " service intervals ", " the step title " relevant with step, " estimating the time of implementation " and the concrete necessary information of fault tree analysis are not described in detail at this as information contents such as " failure-description ", " fault associate devices ".
Claims (6)
1. IETM failure diagnosis record and playback reproducer based on a route is characterized in that: comprise reasoning memory, playback actuator and routing table storage structure; Described reasoning memory comprises successively reasoning igniter module, element information extraction and filtering module and the element information storage module that the digital signal with the computer program definition connects, and all kinds of element informations that produced in each module cooperative logging failure diagnostic process are imported in the routing table storage structures; Described routing table storage structure comprises that one jumps event node ID, this node event id, next jumping event node ID and event-driven data set, the routing table storage structure stores all kinds of element informations, the structrual description of deposit data is provided and offers the playback actuator; Described playback actuator comprises that successively route search module, incident that the digital signal with the computer program definition connects drive and the scene Knockdown block again, the playback actuator is obtained relevant information in the routing table, call in the IETM database event condition information simultaneously and drive processing again, then concrete incident scene content is assembled on request.
2. IETM failure diagnosis record and back method based on a route is characterized in that: form failure diagnosis record and playback reproducer by reasoning memory, playback actuator and three parts of routing table storage structure; Described reasoning memory comprises reasoning igniter module, element information extraction and filtering module and element information storage module, all kinds of element informations that produced in the record trouble diagnostic procedure; Described playback actuator comprises that route search module, incident drive and the scene Knockdown block again, obtains relevant information in the routing table, calls in the IETM database event condition information simultaneously and drives processing again, then concrete incident scene content is assembled on request; Described routing table storage structure stores related data, and the structrual description of deposit data is provided.
3. IETM failure diagnosis record and the back method based on route according to claim 2 is characterized in that the method for all kinds of element informations that produced in the described reasoning memory record trouble diagnostic procedure is:
A) the reasoning igniter module is embedded in the interactive electronic technical manual reader system as the trigger equipment of failure diagnosis record with the playback system function, the generation of real-time detection fault diagnosis reasoning action, the course of work of reasoning igniter module is: when perception has the reasoning action to take place, suspend the reasoning action immediately and preserve on-the-spot, notifying element information to extract with the filtering module incident immediately takes place, and receive element information and extract the feedback information number that successfully starts with filtering module and enter operating state, after determining that element information extraction and filtering module preparation finish, the work of the on-the-spot permission of reduction reasoning failure diagnosis is proceeded;
B) element information extracts with filtering module and receives the data that the fault diagnosis reasoning process produces, extract and filter, data are assembled in order to later-stage utilization, the course of work that element information extracts with filtering module is: after obtaining coming from the reasoning trigger notice that the fault diagnosis reasoning action takes place is arranged, initialization at once, and notice reasoning trigger has entered standby condition, element information extracts the relevant information that receives in the reasoning process in real time to be produced by the interface with the interactive electronic technical manual reader with filtering module, to in these information, extract and filtration comprises and is used to drive reasoning, record reasoning process route and definition event condition are at interior useful information, and carry out the assembling of certain form, send to the element information storage module and further handle;
C) the element information storage module is resolved by element information and is extracted the data of sending with filtering module, and it is stored in the middle of the routing table storage structure, for carrying out playback process, the playback actuator prepares necessary data, the concrete course of work of element information storage module is: after receiving by the data that element information extracts and filtering module sends, good data structure is resolved to utilize agreement earlier, obtain useful information, then with of the requirement of described useful information according to the routing table storage structure, data are injected in the storage carrier successively, revise simultaneously the last one dependency structure content of jumping in the routing table where necessary, make the complete performance reasoning process of routing table energy.
4. according to claim 2 or 3 described IETM failure diagnosis record and back methods, it is characterized in that the course of work of described playback actuator is based on route:
A) the route search module is directly resolved the routing table storage structure, carries out route search from the routing table storage structure, finds next to jump the incident address;
B) incident is driven with the scene Knockdown block carries out incident again and is driven assembling with scene again, its concrete course of work is: at first extract event-driven information by the incident address of route search module location from the routing table storage structure, and utilize its driving that incident is carried out once more to handle, promptly activate the occurrence condition of this incident; Submitting to the interactive electronic technical manual reader after the scene information of the described incident of extraction is assembled from the fault tree database then represents to the user.
5. according to claim 2 or 3 described IETM failure diagnosis record and back methods, it is characterized in that described routing table storage structure model is based on route:
Wherein: PID: be a last jumping event node ID; LID: be this node event id; NID: for next jumps event node ID; DDS: be the event-driven data set.
6. IETM failure diagnosis record and back method based on route according to claim 4 is characterized in that described routing table storage structure model is:
Wherein: PID: be a last jumping event node ID; LID: be this node event id; NID: for next jumps event node ID; DDS: be the event-driven data set.
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| CN102664748A (en) * | 2012-03-28 | 2012-09-12 | 中国人民解放军国防科学技术大学 | Interactive electronic technical manual-based online fault diagnosis equipment and online fault diagnosis method |
| CN106326126A (en) * | 2016-08-27 | 2017-01-11 | 中国电子科技集团公司第四十研究所 | System and method for intelligently integrating inner and outer interfaces of IETM (Interactive Electronic Technical Manual) development platform |
| CN113530675A (en) * | 2020-04-16 | 2021-10-22 | 中国船舶重工集团公司第七一一研究所 | Diesel engine maintenance support method and system and computer storage medium |
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| CN113530675A (en) * | 2020-04-16 | 2021-10-22 | 中国船舶重工集团公司第七一一研究所 | Diesel engine maintenance support method and system and computer storage medium |
| CN116069960A (en) * | 2023-03-31 | 2023-05-05 | 北京君合创想科技发展有限公司 | IETM content data model construction method, equipment and medium for weapon equipment |
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