CN107782478A - Online pipe joint element erection stress detecting system and detection recognition method - Google Patents
Online pipe joint element erection stress detecting system and detection recognition method Download PDFInfo
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- CN107782478A CN107782478A CN201710750679.XA CN201710750679A CN107782478A CN 107782478 A CN107782478 A CN 107782478A CN 201710750679 A CN201710750679 A CN 201710750679A CN 107782478 A CN107782478 A CN 107782478A
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- Prior art keywords
- conduit
- assembling
- erection stress
- frequency spectrum
- pipe joint
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0047—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes measuring forces due to residual stresses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a kind of online pipe joint element erection stress detecting system and detection recognition method, including：System setup module, the setting of cast and installation site, and the setting of data acquisition parameters are corresponded to for carrying out catheter model；Data acquisition module, mould measurement is carried out using hammering method, shock response data is obtained and is preserved；Model analysis module, for obtaining the standard frequency receptance function of conduit, and the dynamic stiffness of guide-tube structure；Sample data setup module, for establishing the standard frequency spectrum database of conduit assembling, the frequency spectrum of line frequency of going forward side by side receptance function is shown；Erection stress identification module, for judging whether targeted conductor assembling is qualified.The present invention can be applied not only to mount stress in pipeline assembling process and detect, and can also be applied to connector installment state during detecting pipeline use and changes.
Description
Technical field
The present invention relates to a kind of online aircraft pipe joint element erection stress detecting system and detection recognition method, belong to
Duct work technical field of construction.
Background technology
Conduit system is one of part important in aircraft, and the quality of its service behaviour directly concerns flying for aircraft
Row safety.At present, engine duct, hydraulic pipe failure of removal frequently occur, and in ascendant trend year by year.According to statistics, lead
The main reason for pipe failure is conduit under the effect of larger erection stress, ultimately results in conduit penetrating crack.Existing major part
The recognition methods of conduit erection stress is all that equipment simply is carried out into "ball-park" estimate, does not form a standard, this causes
Even if there is identification equipment, some erection stresses also occur, cause potential safety hazard.Also, many identification devices are not easy to carry,
Installation is complicated, and test environment requires high, can not be carried out under the conditions of many at conduit scene.
The content of the invention
Be directed to above-mentioned the deficiencies in the prior art, it is an object of the invention to provide it is a kind of it is portable, reliability is high,
Online pipe joint element erection stress detecting system and detection recognition method, known with solving conduit erection stress in the prior art
The problems such as other device is not easy to carry, and test environment requires high, and scene is difficult to carry out, detecting system of the invention can be well
Carry out conduit erection stress on-line monitoring.
To reach above-mentioned purpose, the technical solution adopted by the present invention is as follows：
A kind of online pipe joint element erection stress detecting system, including：System setup module, data acquisition module,
Model analysis module, erection stress identification module, sample data setup module, wherein,
System setup module, the setting of cast and installation site, and data acquisition parameters are corresponded to for carrying out catheter model
Setting；
Data acquisition module, mould measurement is carried out using hammering method, shock response data is obtained and is preserved；
Model analysis module, for obtaining the standard frequency receptance function of conduit, and the dynamic stiffness of guide-tube structure；
Sample data setup module, for establishing the standard frequency spectrum database of conduit assembling, line frequency of going forward side by side receptance function
Frequency spectrum show；
Erection stress identification module, for judging whether targeted conductor assembling is qualified.
Preferably, described model analysis module obtains the standard frequency receptance function of conduit and specifically included：
A. the frequency response function of conduit is obtained by Fast Fourier Transform (FFT)；
B. the rule that frequency response function changes with erection stress is obtained using above-mentioned standard frequency response function.
Preferably, the rule that described frequency response function changes with erection stress is specially：Conduit is filled forcing displacement
In the case of matching somebody with somebody, with the increase for forcing displacement, pipe joint stress increases, when stress increases to certain value, conduit frequency spectrum
Separating phenomenon occurs in the unimodal of script, judges that conduit erection stress has excessive situation according to the separating phenomenon.
Preferably, sample data setup module is established the standard frequency spectrum database that conduit assembles and specifically included：Pass through detection
Substantial amounts of conduit frequency spectrum data, and conduit service life and failure situation are tracked, conduit is carried out to be based on service life and safety
Property analysis, so as to establish conduit assembling standard frequency spectrum database.
Standard frequency spectrum refers to the assembling standard by collecting, analyzing the pipeline established after mass data, all pipelines
Assembling standard set be exactly a standard frequency spectrum database.
Preferably, erection stress identification module judges that targeted conductor assembles whether qualified specifically include：
A. judge whether the unimodal of targeted conductor frequency spectrum script occurs separating phenomenon using standard frequency receptance function, if
Then targeted conductor erection stress is excessive for appearance, and targeted conductor assembling is unqualified；If not occurring, into following step b；
B. using angle analogue method by the frequency spectrum data that targeted conductor measures compared with standard frequency spectrum database, evaluation
Whether conduit assembling is qualified.
A kind of online pipe joint element erection stress detection recognition method, it uses said detecting system, specific steps
It is as follows：
The tubular and installation site of conduit is determined according to the model of conduit；
The standard frequency receptance function of conduit is obtained using modal analysis method；
The rule that frequency response function changes with erection stress is obtained using the standard frequency receptance function of above-mentioned conduit；
Establish the standard frequency spectrum database of conduit assembling；
Judge whether targeted conductor assembling is qualified；If qualified, assembling is completed, and is terminated；If unqualified, after ressembling
Continue to judge whether assembling is qualified.
Preferably, the standard frequency receptance function that conduit is obtained using modal analysis method is specifically included：
A. in the assembled condition, firmly hammer taps the conduit for posting acceleration transducer to conduit；
B. collector gathered data is utilized, the standard frequency receptance function of conduit is obtained by Fast Fourier Transform (FFT)；
C. the rule that frequency response function changes with erection stress is obtained using above-mentioned standard frequency response function.
Preferably, the rule that described frequency response function changes with erection stress is specially：Conduit is filled forcing displacement
In the case of matching somebody with somebody, with the increase for forcing displacement, pipe joint stress increases, when stress increases to certain value, conduit frequency spectrum
Separating phenomenon occurs in the unimodal of script, judges that conduit erection stress has excessive situation according to the separating phenomenon.
Preferably, the described standard frequency spectrum database for establishing conduit assembling specifically includes：By detecting substantial amounts of conduit
Frequency spectrum data, and conduit service life and failure situation are tracked, the analysis based on service life and security is carried out to conduit, from
And establish the standard frequency spectrum database of conduit assembling.
Preferably, judge whether targeted conductor assembling is qualified to specifically include：
A. judge whether the unimodal of targeted conductor frequency spectrum script occurs separating phenomenon using standard frequency receptance function, if
Then targeted conductor erection stress is excessive for appearance, and targeted conductor assembling is unqualified；If not occurring, into following step b；
B. using angle analogue method by the frequency spectrum data that targeted conductor measures compared with standard frequency spectrum database, evaluation
Whether conduit assembling is qualified.
Beneficial effects of the present invention：
The present invention is simple to operate, and practicality is good, can recognize that trickle erection stress, reliability is high and detects ring to surrounding
Border does not require.
The present invention can be applied not only to mount stress in pipeline assembling process and detect, and can also be applied to detect pipeline use
During connector installment state change.
The present invention can realize that real-time detection, figure shows and the matching degree of data compare.
Brief description of the drawings
Fig. 1 is the block diagram of detecting system of the present invention.
Fig. 2 is the schematic diagram of detection recognition method of the present invention.
Fig. 3 is the function schematic diagram that unimodal separating phenomenon occurs.
Embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and accompanying drawing
Bright, the content that embodiment refers to not is limitation of the invention.
Shown in reference picture 1, a kind of online pipe joint element erection stress detecting system of the invention, including：System is set
Module, data acquisition module, model analysis module, erection stress identification module, sample data setup module are put, wherein,
System setup module, the setting of cast and installation site, and data acquisition parameters are corresponded to for carrying out catheter model
Setting, the data acquisition parameters include：Measurement point, collector model, sensitivity, ICP, the coupled modes of acceleration transducer
Deng.
Data acquisition module, mould measurement is carried out using hammering method, shock response data is obtained and is preserved；Conduit exists
Under confined state, firmly hammer taps the conduit for posting acceleration transducer, uses more than sample frequency 1KHz 4 passage collectors
Carry out data acquisition.
Model analysis module, for obtaining the standard frequency receptance function of conduit, and the dynamic stiffness of guide-tube structure；By fast
Fast Fourier transformation obtains the standard frequency receptance function of conduit；Frequency response letter is obtained using above-mentioned standard frequency response function
The rule that number changes with erection stress；
Shown in reference picture 3, the rule that described frequency response function changes with erection stress is specially：Conduit is forcing position
In the case of moving assembling, with the increase for forcing displacement, pipe joint stress increases, when stress increases to certain value, conduit
Separating phenomenon occurs in the unimodal of frequency spectrum script, judges that conduit erection stress has excessive situation according to the separating phenomenon；
According to theory of structural dynamics, the presence of erection stress, structure will produce deformation, and structure combination necessarily becomes
Change, while the dynamic response characteristics of structure can be had an impact so that various structural parameters (modal parameter) change；For
Multi-Degree-of-Freedom Linear structural system, if [M] is the mass matrix of structure, [C] is the damping matrix of structure, and [K] is the firm of structure
Matrix is spent, { x (t) } is the displacement vector of structure, and its free vibration differential equation is write as matrix form and is：
If system the i-th rank intrinsic vibration is：
X (t)={ φi}sin(ωit) (2)
Wherein ωiFor the i-th rank intrinsic frequency, { φiI-th rank natural mode of vibration, (i=1,2 ... ..., N)；Formula (2) is brought into
Formula (1)
Formula (3) both sides are same to be multiplied by { φi}T, arrangement can obtain,
When formula (4) is without mount stress, the i-th rank natural frequency ωi。
Guide-tube structure deforms the stiffness matrix for usually influenceing structure under assembly force, [M] is influenceed to ignore, if right
Variable quantity caused by [K] is [Δ K]；Then, when producing mount stress, then the i-th rank intrinsic frequency：
Wherein, Δ ωiModal frequency change as under mount stress.
Sample data setup module, for establishing the standard frequency spectrum database of conduit assembling, line frequency of going forward side by side receptance function
Frequency spectrum show；
Wherein, sample data setup module is established the standard frequency spectrum database that conduit assembles and specifically included：It is big by detecting
The conduit frequency spectrum data of amount, and conduit service life and failure situation are tracked, conduit is carried out to be based on service life and security
Analysis, so as to establish conduit assembling standard frequency spectrum database.
Erection stress identification module, for judging whether targeted conductor assembling is qualified；
Wherein, erection stress identification module judges that targeted conductor assembles whether qualified specifically include：
A. judge whether the unimodal of targeted conductor frequency spectrum script occurs separating phenomenon using standard frequency receptance function, if
Then targeted conductor erection stress is excessive for appearance, and targeted conductor assembling is unqualified；If not occurring, into following step b；
B. using angle analogue method by the frequency spectrum data that targeted conductor measures compared with standard frequency spectrum database, evaluation
Whether conduit assembling is qualified.
The Similarity Measure of frequency response function：
Using the frequency response function of hammering modal test method detection pipe joint, obtained result and standard frequency is tested
Receptance function is contrasted, so as to which indirect discrimination goes out the size of erection stress.The comparative approach of frequency response function is vectorial
Angle analogue method, the amplitude-frequency response function for being marked with standard is vectorial X, its element Xi, the amplitude size on each Frequency point is represented, is treated
The frequency response function vector of survey is Z, its element ZiThe amplitude size being similarly represented as on each Frequency point；Two frequency response letters
Several similarities can be calculated using angle similarity indices (cosine measurement), i.e.,：
Obviously, ScIt is that cosine of an angle is pressed from both sides between characteristic vector X and Z, angle is that zero value is 1, i.e., angle is similar reaches
It is maximum.
Present invention application hammering modal method gathers a large amount of pipe joint element assembling frequency spectrum datas, is incorporated into detecting system；And
Engineering catheter malfunction and service life in practice are tracked, analyze data is established after the completion of the assembling based on life-span and safety analysis
The standard frequency spectrum database of conduit mode；Rule and the utilization in installation with stress variation conduit spectral change are forced using conduit
The similar angle method of comparison of frequency spectrum, by the matching degree of comparison object frequency spectrum and standard frequency spectrum (i.e. standard frequency receptance function),
Judge whether conduit installation meets the requirements.
Shown in reference picture 2, a kind of online pipe joint element erection stress detection recognition method, it uses above-mentioned detection system
System, is comprised the following steps that：
The tubular and installation site of conduit is determined according to the model of conduit；
The standard frequency receptance function of conduit is obtained using modal analysis method；Specifically include：A. conduit in the assembled condition,
Firmly hammer taps the conduit for posting acceleration transducer；B. more than sample frequency 1KHz 4 passage collector gathered datas are utilized,
The standard frequency receptance function of conduit is obtained by Fast Fourier Transform (FFT)；C. frequency is obtained using above-mentioned standard frequency response function
The rule that rate receptance function changes with erection stress.
The rule that frequency response function changes with erection stress is obtained using the standard frequency receptance function of above-mentioned conduit；
It is specially：Conduit is in the case where forcing displacement to assemble, with the increase for forcing displacement, pipe joint stress increase, when should
When power increases to certain value, separating phenomenon occurs in the unimodal of conduit frequency spectrum script, judges that conduit assembles according to the separating phenomenon
Excessive situation be present in stress；
According to theory of structural dynamics, the presence of erection stress, structure will produce deformation, and structure combination necessarily becomes
Change, while the dynamic response characteristics of structure can be had an impact so that various structural parameters (modal parameter) change；For
Multi-Degree-of-Freedom Linear structural system, if [M] is the mass matrix of structure, [C] is the damping matrix of structure, and [K] is the firm of structure
Matrix is spent, { x (t) } is the displacement vector of structure, and its free vibration differential equation is write as matrix form and is：
If system the i-th rank intrinsic vibration is：
X (t)={ φi}sin(ωit) (2)
Wherein ωiFor the i-th rank intrinsic frequency, { φiI-th rank natural mode of vibration, (i=1,2 ... ..., N)；Formula (2) is brought into
Formula (1)
Formula (3) both sides are same to be multiplied by { φi}T, arrangement can obtain,
When formula (4) is without mount stress, the i-th rank natural frequency ωi。
Guide-tube structure deforms the stiffness matrix for usually influenceing structure under assembly force, [M] is influenceed to ignore, if right
Variable quantity caused by [K] is [Δ K]；Then, when producing mount stress, then the i-th rank intrinsic frequency：
Wherein, Δ ωiModal frequency change as under mount stress.
Establish the standard frequency spectrum database of conduit assembling；Specifically include：By detecting substantial amounts of conduit frequency spectrum data, and with
Track conduit service life and failure situation, the analysis based on service life and security is carried out to conduit, so as to establish conduit dress
The standard frequency spectrum database matched somebody with somebody.
Judge whether targeted conductor assembling is qualified；If qualified, assembling is completed, and is terminated；If unqualified, after ressembling
Continue to judge whether assembling is qualified.
Judge whether targeted conductor assembling is qualified to specifically include：
A. judge whether the unimodal of targeted conductor frequency spectrum script occurs separating phenomenon using standard frequency receptance function, if
Then targeted conductor erection stress is excessive for appearance, and targeted conductor assembling is unqualified；If not occurring, into following step b；
B. using angle analogue method by the frequency spectrum data that targeted conductor measures compared with standard frequency spectrum database, evaluation
Whether conduit assembling is qualified.
The Similarity Measure of frequency response function：
Using the frequency response function of hammering modal test method detection pipe joint, obtained result and standard frequency is tested
Receptance function is contrasted, so as to which indirect discrimination goes out the size of erection stress.The comparative approach of frequency response function is vectorial
Angle analogue method, the amplitude-frequency response function for being marked with standard is vectorial X, its element Xi, the amplitude size on each Frequency point is represented, is treated
The frequency response function vector of survey is Z, its element ZiThe amplitude size being similarly represented as on each Frequency point；Two frequency response letters
Several similarities can be calculated using angle similarity indices (cosine measurement), i.e.,：
Obviously, ScIt is that cosine of an angle is pressed from both sides between characteristic vector X and Z, angle is that zero value is 1, i.e., angle is similar reaches
It is maximum.
Ducts are largely sampled using the detecting system of institute's Integrated design of the present invention, because pipe joint is assembled
Stress can cause the conduit mode frequency spectrum of measurement the phenomenon of " unimodal division " occur when excessive, this phenomenon can be utilized to reject conduit should
The excessive situation of power, and record is tracked to remaining sample, the analysis and research based on service life and security are carried out, are formulated
The assembling standard frequency spectrum of different shape difference rigging position conduits, and it is saved in the standard database of conduit different model.When each
After type conduit assembling standard is improved, this standard is contrasted in further conduit assembling process, determines that target is led using similar angle method
The matching degree of pipe frequency spectrum, for judging whether conduit assembling is qualified.
Concrete application approach of the present invention is a lot, and described above is only the preferred embodiment of the present invention, it is noted that for
For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made, this
A little improve also should be regarded as protection scope of the present invention.
Claims (10)
- A kind of 1. online pipe joint element erection stress detecting system, it is characterised in that including：System setup module, data Acquisition module, model analysis module, erection stress identification module, sample data setup module, wherein,System setup module, correspond to the setting of cast and installation site for carrying out catheter model, and data acquisition parameters are set Put；Data acquisition module, mould measurement is carried out using hammering method, shock response data is obtained and is preserved；Model analysis module, for obtaining the standard frequency receptance function of conduit, and the dynamic stiffness of guide-tube structure；Sample data setup module, for establishing the standard frequency spectrum database of conduit assembling, the frequency of line frequency of going forward side by side receptance function Spectrum display；Erection stress identification module, for judging whether targeted conductor assembling is qualified.
- 2. online pipe joint element erection stress detecting system according to claim 1, it is characterised in that described mould The standard frequency receptance function that state analysis module obtains conduit specifically includes：A. the frequency response function of conduit is obtained by Fast Fourier Transform (FFT)；B. the rule that frequency response function changes with erection stress is obtained using above-mentioned standard frequency response function.
- 3. online pipe joint element erection stress detecting system according to claim 2, it is characterised in that described frequency The rule that rate receptance function changes with erection stress is specially：Conduit is in the case where forcing displacement to assemble, with forcing displacement Increase, the increase of pipe joint stress, when stress increases to certain value, the unimodal of conduit frequency spectrum script occurs that division is existing As judging that conduit erection stress has excessive situation according to the separating phenomenon.
- 4. online pipe joint element erection stress detecting system according to claim 1, it is characterised in that sample data The standard frequency spectrum database that setup module establishes conduit assembling specifically includes：By detecting substantial amounts of conduit frequency spectrum data, and with Track conduit service life and failure situation, the analysis based on service life and security is carried out to conduit, so as to establish conduit dress The standard frequency spectrum database matched somebody with somebody.
- 5. online pipe joint element erection stress detecting system as claimed in any of claims 1 to 4, its feature It is, erection stress identification module judges whether targeted conductor assembling is qualified and specifically included：A. judge whether the unimodal of targeted conductor frequency spectrum script occurs separating phenomenon using standard frequency receptance function, if occurring Then targeted conductor erection stress is excessive, and targeted conductor assembling is unqualified；If not occurring, into following step b；B. using angle analogue method by the frequency spectrum data that targeted conductor measures compared with standard frequency spectrum database, evaluate conduit Whether assembling is qualified.
- 6. a kind of online pipe joint element erection stress detection recognition method, it uses any one in the claims 1-5 The detecting system of item, it is characterised in that comprise the following steps that：The tubular and installation site of conduit is determined according to the model of conduit；The standard frequency receptance function of conduit is obtained using modal analysis method；The rule that frequency response function changes with erection stress is obtained using the standard frequency receptance function of above-mentioned conduit；Establish the standard frequency spectrum database of conduit assembling；Judge whether targeted conductor assembling is qualified；If qualified, assembling is completed, and is terminated；If unqualified, continue after ressembling Judge whether assembling is qualified.
- 7. online pipe joint element erection stress detection recognition method according to claim 6, it is characterised in that described The standard frequency receptance function that conduit is obtained using modal analysis method specifically include：A. in the assembled condition, firmly hammer taps the conduit for posting acceleration transducer to conduit；B. collector gathered data is utilized, the standard frequency receptance function of conduit is obtained by Fast Fourier Transform (FFT)；C. the rule that frequency response function changes with erection stress is obtained using above-mentioned standard frequency response function.
- 8. the online pipe joint element erection stress detection recognition method stated according to claim 7, it is characterised in that described The rule that frequency response function changes with erection stress is specially：Conduit is in the case where forcing displacement to assemble, with forcing position The increase of shifting, the increase of pipe joint stress, when stress increases to certain value, the unimodal of conduit frequency spectrum script occurs that division is existing As judging that conduit erection stress has excessive situation according to the separating phenomenon.
- 9. online pipe joint element erection stress detection recognition method according to claim 6, it is characterised in that described Establish conduit assembling standard frequency spectrum database specifically include：By detecting substantial amounts of conduit frequency spectrum data, and track conduit Service life and failure situation, the analysis based on service life and security is carried out to conduit, so as to establish the mark of conduit assembling Quasi- frequency spectrum data storehouse.
- 10. online pipe joint element erection stress detection recognition method according to claim 6, it is characterised in that sentence Whether disconnected targeted conductor assembling is qualified to specifically include：A. judge whether the unimodal of targeted conductor frequency spectrum script occurs separating phenomenon using standard frequency receptance function, if occurring Then targeted conductor erection stress is excessive, and targeted conductor assembling is unqualified；If not occurring, into following step b；B. using angle analogue method by the frequency spectrum data that targeted conductor measures compared with standard frequency spectrum database, evaluate conduit Whether assembling is qualified.
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| CN110598329A (en) * | 2019-09-16 | 2019-12-20 | 珠海格力电器股份有限公司 | Pipeline piece design method, storage medium and computer equipment |
| CN111197970A (en) * | 2020-02-28 | 2020-05-26 | 成都飞机工业（集团）有限责任公司 | Engine interface digital measurement method |
| CN112526916A (en) * | 2020-10-27 | 2021-03-19 | 成都飞机工业（集团）有限责任公司 | Airplane assembly fixture collision monitoring method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108916471A (en) * | 2018-07-26 | 2018-11-30 | 南京航空航天大学 | A kind of the determination method and determining system of pipeline clamp installation site |
| CN110569597A (en) * | 2019-09-09 | 2019-12-13 | 珠海格力电器股份有限公司 | pipeline piece management method, storage medium and computer equipment |
| CN110598329A (en) * | 2019-09-16 | 2019-12-20 | 珠海格力电器股份有限公司 | Pipeline piece design method, storage medium and computer equipment |
| CN111197970A (en) * | 2020-02-28 | 2020-05-26 | 成都飞机工业（集团）有限责任公司 | Engine interface digital measurement method |
| CN112526916A (en) * | 2020-10-27 | 2021-03-19 | 成都飞机工业（集团）有限责任公司 | Airplane assembly fixture collision monitoring method |
| CN113340493A (en) * | 2021-05-11 | 2021-09-03 | 西安交通大学 | Laser shock peening quality on-line monitoring method based on modal acoustic emission spectrum ratio |
| CN115265669A (en) * | 2022-09-19 | 2022-11-01 | 博格达智能装备(南通)有限公司 | Pipe cutting hot melting process quality detection system based on two classifiers |
| CN115265669B (en) * | 2022-09-19 | 2023-10-13 | 博格达智能装备(南通)有限公司 | Pipe cutting hot melting process quality detection system based on two classifiers |
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