CN108053712B - Parachuting training simulator and parachuting training method - Google Patents
Parachuting training simulator and parachuting training method Download PDFInfo
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- CN108053712B CN108053712B CN201810051402.2A CN201810051402A CN108053712B CN 108053712 B CN108053712 B CN 108053712B CN 201810051402 A CN201810051402 A CN 201810051402A CN 108053712 B CN108053712 B CN 108053712B
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 230000009194 climbing Effects 0.000 claims abstract description 8
- 230000000007 visual effect Effects 0.000 claims description 24
- 239000011521 glass Substances 0.000 claims description 18
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000008034 disappearance Effects 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 230000004886 head movement Effects 0.000 claims 2
- 238000004088 simulation Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 210000003128 head Anatomy 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D23/00—Training of parachutists
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Abstract
The invention relates to an paratrooper parachuting training simulator and a method thereof, wherein the simulator comprises a supporting frame, a climbing ladder, a jump platform, an operating system, a linear motion mechanism, a brace system, a lifting landing platform, a virtual reality device, a fan device and a software system; triggering a software system through a pressure sensor to perfectly simulate leaving the aircraft; triggering a software system through an operating system, perfectly simulating free falling and opening an umbrella, and generating a true touch sense through a linear motion mechanism and a fan device; simulating a route process through a lifting landing platform to complete the complete simulation of the parachuting process; by simulating the whole parachuting process, the parachuting training device has better training effect compared with partial simulation.
Description
Technical Field
The invention relates to the field of paratrooper simulation training, in particular to a paratrooper parachuting training simulator and a paratrooper parachuting training method.
Background
Parachuting is a highly dangerous activity, such as a special situation, or an accident of injury or death of the parachuting personnel without following a correct procedure. When the training of the assembled parachuting is organized, the logistics is difficult to guarantee, the time is wasted, the cost investment is large, and the training is limited by the site and the meteorological conditions.
In order to improve training efficiency and reduce danger and accidents, paratrooper training at home and abroad is performed on reinforced ground. The parachuting ground training in China mainly comprises diving platform and parachuting tower training, and also comprises diving platform slideway training, wherein the training means has a certain gap compared with the foreign advanced countries.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
In order to improve training efficiency and reduce danger and accidents, the invention discloses an parachuting training simulator and a method thereof, which construct a vivid parachuting training environment by adopting an advanced electromechanical technology, a virtual reality technology and a man-machine interaction technology according to the actual process of parachuting, and provide training means and scientific training modes with strong immersion sense for training subjects such as parachute rope manipulation skills, special conditions, fault handling and the like in the whole process of leaving an airplane, freely falling, opening the parachute and landing for trained persons, thereby meeting the training purposes of improving parachuting training benefit and reducing safety risks.
The technical scheme adopted for solving the technical problems is as follows:
the simulator comprises a supporting frame, a climbing ladder, a jump platform, an operating system, a linear motion mechanism, a brace system, a lifting landing platform, a virtual reality device, a fan device and a software system;
the ascending ladder is connected with the supporting frame and is used for a trained person to ascend the take-off platform;
the take-off platform is arranged on the support frame and used for simulating an aircraft parachuting door, and is provided with a pressure sensor which is connected with the virtual reality device and used for triggering a software system;
the control system is used for generating signals for simulating and controlling the parachute and comprises two sets of parachute ropes and a pull rope sensor, wherein the pull rope sensor is fixedly arranged on the top of the supporting frame, one end of each parachute rope is connected with the pull rope of the pull rope sensor, the other end of each parachute rope is controlled by a parachute-jumping person, the pull rope sensor is connected with the virtual reality device, the generated signals are transmitted to the software system, and the motion trail of the parachute in a scene is controlled;
the linear motion mechanism is used for performing back-and-forth motion according to the control of the software system;
the brace system is connected with the linear motion mechanism and comprises a brace and a spring damper, wherein the spring damper is used for buffering the free falling body after the spring damper jumps out and simulating the tension of the umbrella after the umbrella is opened;
the virtual reality device comprises a graphic workstation and VR glasses, wherein the graphic workstation is used for running the software system and transmitting video signals to the VR glasses;
the fan device is used for simulating an external wind power environment in the parachute landing process, and can output and control the air quantity of the fan according to the descending speed, and is connected with the graphic workstation;
the liftable platform is used for simulating the landing experience of a trainee and is connected with the graphic workstation.
The invention solves the technical problems that the further technical proposal is as follows: the liftable platform comprises a landing plane and a lifting mechanism, wherein the landing plane is connected with the lifting mechanism, and the lifting mechanism is arranged on the ground.
The invention solves the technical problems that the further technical proposal is as follows: the lifting mechanism is a scissor type lifting mechanism and is driven electrically or hydraulically.
The invention solves the technical problems that the further technical proposal is as follows: the support frame is a square structure formed by connecting square tubes and comprises a bottom surface frame, a middle frame, a top surface frame and stand columns, wherein the stand columns and the frames are in an inserted structure and then are connected through bolts.
The invention solves the technical problems that the further technical proposal is as follows: the linear motion mechanism comprises a moving frame, rollers, a guide rail and an electric push rod, wherein the guide rail is arranged on the top surface frame, the rollers are arranged on the moving frame, the moving frame is arranged on the guide rail, one end of the electric push rod is connected with the top surface frame, and the other end of the electric push rod is connected with the moving frame.
The invention solves the technical problems that the further technical proposal is as follows: the take-off platform comprises pedals and a fence, and is fixed on the middle frame of the supporting frame through bolts.
The invention solves the technical problems that the further technical proposal is as follows: the simulator also comprises a display device which is connected with the graphic workstation and used for a teacher to observe the simulated parachuting process of the trainee.
The invention solves the technical problems that the further technical proposal is as follows: and the VR glasses are provided with positioners for capturing the movement information of the head in the scene and transmitting the information to a software system on the graphic workstation to generate an observation scene of human eyes matched with the movement of the head.
The invention solves the technical problems that the further technical proposal is as follows: the fan device comprises two variable frequency fans, and the two variable frequency fans are respectively arranged at the corners of the landing plane.
A method for simulated training by an parachuting training simulator, the method comprising the steps of:
s1, a trained person wears VR glasses, climbs the jump platform from a climbing ladder, receives a pressure signal from a pressure sensor, and feeds the pressure signal back to a software system running on a virtual reality device;
s2, the trained personnel is connected with a brace system, the brace system feeds back signals to a software system, and the software system generates a visual scene after the parachuting preparation is completed and transmits the visual scene to the VR glasses;
s3, the trained personnel jumps down from the take-off platform according to the instruction, the pressure sensor monitors the pressure disappearance and feeds the pressure back to the software system, the software system simulates a visual scene leaving the aircraft and transmits the visual scene to the VR glasses, and the software system controls the fan device to generate the front-back motion which is suitable for the visual scene, the matched wind power environment and the linear motion mechanism;
s4, the trainee adjusts the posture through the control system according to the visual scene and wind and feeds back to the software system, and the software system generates the corresponding visual scene, the matched wind power environment and the corresponding front-back movement of the linear movement mechanism;
s5, when the software system generates a visual scene of the road, trained personnel simultaneously tightens the umbrella rope and feeds signals back to the software system;
s6, the software system controls the lifting landing platform to lift according to different speeds, and the road-running process is simulated.
By adopting the technical means, the invention has the following beneficial effects:
1. triggering a software system through a pressure sensor to perfectly simulate leaving the aircraft;
2. triggering a software system through an operating system, perfectly simulating free falling and opening an umbrella, and generating a true touch sense through a linear motion mechanism and a fan device;
3. simulating a route process through a lifting landing platform to complete the complete simulation of the parachuting process;
4. by simulating the whole parachuting process, the parachuting training device has better training effect compared with partial simulation.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a three-dimensional structure of a parachuting training simulator for paratroopers;
FIG. 2 is a front view of FIG. 1;
specific reference numerals in the drawings are as follows:
1. a support frame; 11. a bottom surface frame; 12. a middle frame; 13. a top surface frame; 14. a column; 2. a climbing ladder; 3. a take-off platform; 31. a pedal; 32. a fence; 4. a manipulation system; 41. an umbrella rope; 42. a pull rope sensor; 5. a linear motion mechanism; 51. a moving rack; 52. an electric push rod; 6. a harness system; 61. a hanging belt; 62. a spring damper; 7. a liftable landing platform; 71. a landing plane; 72. a lifting mechanism; 8. a virtual reality device; 81. a graphics workstation; 9. a fan device; 91. a variable frequency fan; 10. a display device.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
1-2, the simulator comprises a supporting frame 1, a climbing ladder 2, a take-off platform 3, an operating system 4, a linear motion mechanism 5, a brace system 6, a lifting landing platform 7, a virtual reality device 8, a fan device 9 and a software system;
the ascending ladder 2 is connected with the supporting frame 1 and is used for a trained person to ascend the jump platform 3;
the take-off platform 3 is arranged on the support frame 1 and used for simulating an aircraft parachuting door, and the take-off platform 3 is provided with a pressure sensor which is connected with the virtual reality device 8 and used for triggering a software system;
the control system 4 is used for generating signals for simulating and controlling the parachute and comprises two sets of parachute ropes 41 and a pull rope sensor 42, wherein the pull rope sensor 42 is fixedly arranged on the top of the supporting frame 1, one end of each parachute rope 41 is connected with the corresponding pull rope sensor 42 in a pull rope manner, the other end of each parachute rope 41 is controlled by a parachute-jump operator, the pull rope sensor 42 is connected with the virtual reality device 8, and the generated signals are transmitted to a software system to control the movement track of the parachute in a scene; the larger the pulling amplitude of the parachute rope 41 is, the larger the rotating amplitude of the parachute in the vision is, the smaller the pulling amplitude is, and the smaller the rotating amplitude is;
the linear motion mechanism 5 is used for performing back-and-forth motion according to the control of the software system;
the brace system 6 is connected with the linear motion mechanism 5 and comprises a brace 61 and a spring damper 62, wherein the spring damper is used for buffering free falling after jumping out and simulating the tension of an opened umbrella;
the virtual reality device 8 comprises a graphics workstation 81 and VR glasses, the graphics workstation 81 being configured to run the software system and transmit video signals to the VR glasses;
the fan device 9 is used for simulating an external wind power environment in the parachute-jumping process, and can output and control the air quantity of the fan according to the descending speed, and the fan device 9 is connected with the graphic workstation 81;
the liftable platform is used for simulating the landing experience of a trainee and is connected with the graphic workstation 81.
Triggering a software system through a pressure sensor to perfectly simulate leaving the aircraft; triggering a software system through an operating system 4, perfectly simulating free falling and umbrella opening, and generating a true touch sense through a linear motion mechanism 5 and a fan device 9; simulating a route process through the lifting landing platform 7, and completing all simulation of the parachuting process; by simulating the whole parachuting process, the parachuting training device has better training effect compared with partial simulation.
Preferably, the liftable platform comprises a landing plane 71 and a lifting mechanism 72, wherein the landing plane 71 is connected with the lifting mechanism 72, and the lifting mechanism 72 is arranged on the ground.
Preferably, the lifting mechanism 72 is a scissor lift mechanism 72, and is driven electrically or hydraulically.
Preferably, the supporting frame 1 is a square structure formed by connecting square tubes, and comprises a bottom surface frame 11, a middle frame 12, a top surface frame 13 and stand columns 14, wherein the stand columns 14 and the frames are in an inserted structure and then are connected through bolts.
As a preferable solution, the linear motion mechanism 5 includes a moving frame 51, rollers, a guide rail, and an electric push rod 52, the guide rail is disposed on the top frame 13, the rollers are disposed on the moving frame 51, the moving frame 51 is disposed on the guide rail, one end of the electric push rod 52 is connected to the top frame 13, and the other end is connected to the moving frame 51.
Preferably, the take-off platform 3 comprises pedals 31 and rails 32, and the take-off platform 3 is fixed on the middle frame 12 of the support frame 1 by bolts.
Preferably, the simulator further comprises a display device 10, wherein the display device 10 is connected with the graphic workstation 81 for a teacher to observe the simulated parachuting process of the trainee.
As a preferred solution, the VR glasses are provided with a locator, which is used to capture the motion information of the head in the scene, and transmit the information to the software system on the graphics workstation 81, so as to generate the observation scene of the human eyes matched with the head motion. The locator captures the motion information of the head in the scene and transmits the information to a vision program on the graphics workstation 81 to generate an observation scene of the scene by human eyes matched with the motion of the head.
Preferably, the fan unit 9 includes two variable frequency fans 91, and the two variable frequency fans 91 are respectively disposed at corners of the landing plane 71, and wind direction blows to the parachuting face.
A method for simulated training by an parachuting training simulator, the method comprising the steps of:
s1, a trained person wears VR glasses, climbs the jump platform 3 from the climbing ladder 2, receives a pressure signal from a pressure sensor, and feeds the pressure signal back to a software system running on the virtual reality device 8;
s2, the trained personnel is connected with the brace system 6, the brace system 6 feeds back signals to the software system, and the software system generates a visual scene after the parachuting preparation is completed and transmits the visual scene to the VR glasses;
s3, the trained personnel jumps down from the take-off platform 3 according to the instruction, the pressure sensor monitors the pressure disappearance and feeds back to the software system, the software system simulates the visual scene leaving the airplane and transmits the visual scene to the VR glasses, and the software system controls the fan device 9 to generate the visual scene, the matched wind power environment and the front-back movement which is matched with the linear movement mechanism 5;
s4, the trainee adjusts the posture according to the visual scene and wind through the control system 4 and feeds back to the software system, and the software system generates the corresponding visual scene, the matched wind power environment and the corresponding front-back movement of the linear movement mechanism 5;
s5, when the software system generates a visual scene of the road, trained personnel simultaneously tightens the umbrella rope 41 and feeds signals back to the software system;
s6, the software system controls the lifting landing platform 7 to lift according to different speeds, and the road-driving process is simulated.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The parachuting training simulator for the paratroopers is characterized by comprising a supporting frame, a climbing ladder, a jump platform, an operating system, a linear motion mechanism, a brace system, a lifting landing platform, a virtual reality device, a fan device and a software system;
the ascending ladder is connected with the supporting frame and is used for a trained person to ascend the jump platform;
the take-off platform is arranged on the support frame and used for simulating an aircraft parachuting door, and is provided with a pressure sensor which is connected with the virtual reality device and used for triggering a software system;
the control system is used for generating signals for simulating and controlling the parachute and comprises two sets of parachute ropes and a pull rope sensor, wherein the pull rope sensor is fixedly arranged on the top of the supporting frame, one end of each parachute rope is connected with the pull rope of the pull rope sensor, the other end of each parachute rope is controlled by a parachute-jumping person, the pull rope sensor is connected with the virtual reality device, the generated signals are transmitted to the software system, and the motion trail of the parachute in a scene is controlled;
the linear motion mechanism is used for performing back-and-forth motion according to the control of the software system;
the brace system is connected with the linear motion mechanism and comprises a brace and a spring damper, wherein the spring damper is used for buffering the free falling body after the spring damper jumps out and simulating the tension of the umbrella after the umbrella is opened;
the virtual reality device comprises a graphic workstation and VR glasses, wherein the graphic workstation is used for running the software system and transmitting video signals to the VR glasses;
the fan device is used for simulating an external wind power environment in the parachute landing process, and can output and control the air quantity of the fan according to the descending speed, and is connected with the graphic workstation;
the liftable landing platform is used for simulating the landing experience of a trainee and is connected with the graphic workstation.
2. The parachuting training simulator of claim 1, wherein the liftable landing platform includes a landing plane and a lifting mechanism, the landing plane being connected to the lifting mechanism, the lifting mechanism being disposed on the ground.
3. The parachuting training simulator of claim 2, wherein the lifting mechanism is a scissor lift mechanism, either electrically or hydraulically driven.
4. A parachuting training simulator according to claim 1 or 3, wherein the supporting frame is a square structure formed by square tubes, and comprises a bottom frame, a middle frame, a top frame and upright posts, wherein the upright posts and the frame are in an inserted structure and then are connected through bolts.
5. The parachuting training simulator of claim 4, wherein the linear motion mechanism comprises a moving frame, rollers, a guide rail and an electric push rod, the guide rail is arranged on the top surface frame, the rollers are arranged on the moving frame, the moving frame is arranged on the guide rail, one end of the electric push rod is connected with the top surface frame, and the other end of the electric push rod is connected with the moving frame.
6. The parachuting training simulator of claim 5, wherein the take-off platform includes pedals and rails, the take-off platform being bolted to the intermediate frame of the support frame.
7. The parachuting training simulator of claim 1 or 6, further comprising a display device coupled to the graphics workstation for a instructor to observe a trainee simulating a parachuting process.
8. The parachuting training simulator of claim 7, wherein the VR glasses are provided with a locator for capturing head movement information in the scene, and transmitting the information to a software system on the graphics workstation for generating an observation scene of the scene by human eyes matched with the head movement.
9. The parachuting training simulator of claim 2, wherein the fan assembly includes two variable frequency fans, the two variable frequency fans being disposed at corners of the landing plane, respectively.
10. A method of simulated training using the parachuting simulator of claim 1, the method comprising the steps of:
s1, a trained person wears VR glasses, climbs a jump platform from a climbing ladder, receives a pressure signal from a pressure sensor, and feeds the pressure signal back to a software system running on a virtual reality device;
s2, the trained personnel is connected with a brace system, the brace system feeds back signals to a software system, and the software system generates a visual scene after the parachuting preparation is completed and transmits the visual scene to the VR glasses;
s3, the trained personnel jumps down from the take-off platform according to the instruction, the pressure sensor monitors the pressure disappearance and feeds the pressure back to the software system, the software system simulates a visual scene leaving the aircraft and transmits the visual scene to the VR glasses, and the software system controls the fan device to generate the front-back motion which is suitable for the visual scene, the matched wind power environment and the linear motion mechanism;
s4, the trainee adjusts the posture through the control system according to the visual scene and wind and feeds back to the software system, and the software system generates the corresponding visual scene, the matched wind power environment and the corresponding front-back movement of the linear movement mechanism;
s5, when the software system generates a visual scene of the road, trained personnel simultaneously tightens the umbrella rope and feeds signals back to the software system;
s6, the software system controls the lifting landing platform to lift according to different speeds, and the road-driving process is simulated.
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| CN109949644A (en) * | 2019-04-16 | 2019-06-28 | 异起(上海)智能科技有限公司 | It is a kind of that hanging method and apparatus are immersed based on virtual reality technology |
| CN110877734B (en) * | 2019-10-22 | 2020-11-10 | 中国人民解放军91976部队 | Driving control system and method for parachute jumping simulation cabin and storage medium |
| CN110910698B (en) * | 2019-10-22 | 2020-10-27 | 中国人民解放军91976部队 | Parachuting simulation system, control method and storage medium |
| CN110782731B (en) * | 2019-11-11 | 2021-07-06 | 北京华如科技股份有限公司 | Digital parachute harness system for parachute landing simulation training |
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| CN112591109B (en) * | 2020-12-22 | 2024-04-16 | 长沙理工大学 | Parachuting whole-course simulation training platform |
| CN112562446B (en) * | 2020-12-30 | 2022-11-18 | 中国人民解放军95829部队空降兵研究所 | Real sense parachuting simulation training ware based on virtual reality |
| CN114999267B (en) * | 2022-04-26 | 2024-03-29 | 沈阳航空航天大学 | Ejection parachuting simulator with overload adjustable and controllable |
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| CN107472543A (en) * | 2017-08-29 | 2017-12-15 | 深圳威阿科技有限公司 | A kind of parachuting training simulation system |
| CN107492279A (en) * | 2017-08-29 | 2017-12-19 | 北京华如科技股份有限公司 | Parachuting simulator |
| CN208737703U (en) * | 2018-01-18 | 2019-04-12 | 航天科工系统仿真科技（北京）有限公司 | A kind of paratrooper's parachuting training simulator |
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