CN109916353A - A kind of buoyant raft bidirectional displacement monitoring device and method - Google Patents
A kind of buoyant raft bidirectional displacement monitoring device and method Download PDFInfo
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- CN109916353A CN109916353A CN201910258209.0A CN201910258209A CN109916353A CN 109916353 A CN109916353 A CN 109916353A CN 201910258209 A CN201910258209 A CN 201910258209A CN 109916353 A CN109916353 A CN 109916353A
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 56
- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012806 monitoring device Methods 0.000 title claims abstract description 15
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 74
- 238000012544 monitoring process Methods 0.000 claims abstract description 26
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000002955 isolation Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000035939 shock Effects 0.000 description 7
- 229910045601 alloy Inorganic materials 0.000 description 6
- 239000000956 alloy Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000002789 length control Methods 0.000 description 1
- 229910000734 martensite Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003446 memory effect Effects 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The invention discloses a kind of buoyant raft bidirectional displacement monitoring device and methods, belong to buoyant raft vibration isolation technique field.The buoyant raft bidirectional displacement monitoring device includes: that turntable rotates on vertical plane around the shaft；Sensor is arranged on the periphery of turntable；It is opened up on turntable there are two track, two tracks are centrosymmetric using the center of circle of turntable as symmetrical centre, and the depth of groove of track is gradually increased from one end of track to the other end；Two driving balls and two tracks correspond, and two driving balls are centrosymmetric using the center of circle of turntable as symmetrical centre, and driving ball is slidably arranged in corresponding track；Two memory alloy wires and two driving balls correspond, and memory alloy wire passes through turntable and connects with corresponding driving ball.The direction that buoyant raft bidirectional displacement monitoring device and method of the present invention can be popped one's head in conversion sensor, is monitored by vertical and lateral displacement of the single displacement sensor to buoyant raft, strong to the environmental suitability of buoyant raft displacement monitoring.
Description
Technical field
The present invention relates to buoyant raft vibration isolation technique field, in particular to a kind of buoyant raft bidirectional displacement monitoring device and method.
Background technique
In ship domain, integrated vibration damping is carried out to running devices such as units using Buoyant Raft Shock-resistant System, vibration damping drop can be played
The effect made an uproar.Buoyant Raft Shock-resistant System, which typically refers to different units passing through damper respectively, to be installed on common framework, then by this
Common framework is installed on Ship Structure by damper, utilizes the mass effect of common framework, the elastic characteristic of damper and resistance
Damping characteristics realize the isolation and decaying of vibration in vibration transfer path.Simultaneously as being increased newly between common framework and Ship Structure
Damper with elastic characteristic, the posture of Buoyant Raft Shock-resistant System can change with the posture of stress and hull, lead to
Vertical, transverse direction and longitudinal direction displacement is often shown as, this shift value is not only ceased with the safety in operation of integrated equipment thereon and performance
Manner of breathing closes, and has an effect on the safety and service life of damper.
Therefore, it is necessary to which the displacement to Buoyant Raft Shock-resistant System is monitored.And the displacement of Buoyant Raft Shock-resistant System is usually dynamic
State displacement, object construction direction of displacement is changeable, velocity of displacement is very fast, intermediate state is not able to maintain, and needs multiple sensors to floating
The displacement of raft isolation mounting is monitored.
But due to the usual narrow space in Buoyant Raft Shock-resistant System installation position on ship, bad environments will affect displacement
It monitors the design of sensor and lays, eventually lead to the displacement for being unable to monitor Buoyant Raft Shock-resistant System.
Summary of the invention
The present invention provides a kind of buoyant raft bidirectional displacement monitoring device, solves or part solves in the prior art to buoyant raft
The usual narrow space in isolation mounting installation position, can not install the technical issues of multiple sensors are monitored.
In order to solve the above technical problems, including: turntable, sensing the present invention provides a kind of buoyant raft bidirectional displacement monitoring device
Device, shaft and two driving balls and two memory alloy wires；The turntable rotates on vertical plane around the shaft；The sensing
Device is arranged on the periphery of the turntable；Track there are two opening up on the turntable, two tracks are with the turntable
The center of circle is centrosymmetric for symmetrical centre, and the depth of groove of the track is gradually increased from one end of track to the other end；Two
A driving ball and two tracks correspond, and two driving balls are in as symmetrical centre using the center of circle of the turntable
Central symmetry, the driving ball are slidably arranged in corresponding track；Two memory alloy wires and two institutes
It states driving ball to correspond, the memory alloy wire passes through the turntable and connects with corresponding driving ball.
Further, the shape of the track is arc.
Further, the radian of the track and the radian in the disk peripheral face are consistent.
Further, setting position and the track of a memory alloy wire in two memory alloy wires is recessed
It is concordant at groove depth minimum；
The depth of groove of the setting position and the track of another memory alloy wire in two memory alloy wires
Maximum is concordant.
Further, the depth of groove maximum of two tracks is in center by symmetrical centre of the center of circle of the turntable
Symmetrically；The center of circle that the depth of groove minimum of two tracks sentences the turntable is centrosymmetric for symmetrical centre；The biography
The position of sensor is corresponding at the depth of groove minimum of a track in two tracks.
Based on identical inventive concept, the present invention also provides a kind of buoyant raft bidirectional displacement monitoring method the following steps are included:
Some memory alloy wire in two memory alloy wires is powered, the memory alloy wire shortens, and pulls the corresponding drive
Dynamic ball；The driving ball generates pressure in corresponding track, makes turntable relative to driving ball rotation, the driving ball is by institute
State the depth of groove maximum that the track is reached at the depth of groove minimum of track；Sensor described in the driven by rotary disc reaches
Position is monitored, the sensor detects the displacement of the buoyant raft.
Further, when to be monitored to the vertical deviation of the buoyant raft；By first in two memory alloy wires
Memory alloy wire is powered, and first memory alloy wire shortens, and pulls corresponding first driving ball in two driving balls；Institute
It states the first driving ball and generates pressure in corresponding first track in two tracks, make the turntable relative to described
One driving ball rotation, the first driving ball reach the recessed of first track by the depth of groove minimum of first track
Groove depth maximum；Sensor described in the driven by rotary disc reaches vertical monitoring position, and the sensor is vertical to the buoyant raft
Displacement is detected.
Further, the pressure that the first driving ball generates rotates counterclockwise the turntable.
Further, when to be monitored to the lateral displacement of the buoyant raft；First memory alloy wire is powered off,
The elongation of first memory alloy wire；The second memory alloy wire in two memory alloy wires is powered, second memory alloy wire
Shorten, pulls corresponding second driving ball in two driving balls；The second driving ball is opposite in two tracks
Pressure is generated in the second track answered, and makes the turntable relative to the second driving ball rotation；The second driving ball is by institute
The depth of groove maximum that second track is reached at the depth of groove minimum of the second track is stated, the first driving ball is by institute
The depth of groove maximum for stating the first track reaches the depth of groove minimum of first track everywhere；Described in the driven by rotary disc
Sensor reaches laterally monitoring position, the sensor and detects to the lateral displacement of the buoyant raft.
Further, the pressure that the second driving ball generates rotates clockwise the turntable.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
Since turntable rotates on vertical plane around the shaft, sensor is arranged on the periphery of turntable, offers on turntable
Two tracks, two tracks are centrosymmetric using the center of circle of turntable as symmetrical centre, and the depth of groove of track is by the one of track
It holds to the other end and is gradually increased, two driving balls and two tracks correspond, and two driving balls are symmetrical with the center of circle of turntable
Center is centrosymmetric, and driving ball is slidably arranged in corresponding track, two memory alloy wires and two drivings
Ball corresponds, and memory alloy wire passes through turntable and connects with corresponding driving ball, so, it can be powered by memory alloy wire
It shrinks and pulls driving ball, make that ball is driven to generate pressure in groove, make turntable relative to driving ball rotation, drive ball by track
The depth of groove maximum of track is reached at depth of groove minimum, driven by rotary disc sensor is to monitoring position, and sensor is to buoyant raft
Displacement is detected, the direction that can be popped one's head in conversion sensor, by single displacement sensor to the vertical and lateral position of buoyant raft
Shifting is monitored, strong to the environmental suitability of buoyant raft displacement monitoring.
Detailed description of the invention
Fig. 1 is buoyant raft bidirectional displacement monitoring device main view provided in an embodiment of the present invention；
Fig. 2 is the A direction view of Fig. 1.
Specific embodiment
Referring to Fig. 1-2, a kind of buoyant raft bidirectional displacement monitoring device provided in an embodiment of the present invention includes: turntable 1, sensor
2, shaft 3 and two driving balls 4 and two memory alloy wires 5.
Turntable 1 rotates on vertical plane around the shaft 3.
Sensor 2 is arranged on the periphery of turntable 1.
It is opened up on turntable 1 there are two track 6, two tracks 6 are centrosymmetric using the center of circle of turntable 1 as symmetrical centre, rail
The depth of groove in road 5 is gradually increased from one end of track to the other end.
Two driving balls 4 and two tracks 6 correspond, during two driving balls 4 using the center of circle of turntable 1 as symmetrical centre are in
The heart is symmetrical, and driving ball 4 is slidably arranged in corresponding track 6.
Two memory alloy wires 5 and two driving balls 4 correspond, and memory alloy wire passes through turntable 1 and corresponding drive
Dynamic ball 4 connects.
For the application specific embodiment since turntable 13 rotates on vertical plane around the shaft, turntable 1 is arranged in sensor 2
On periphery, opened up on turntable 1 there are two track 6, two tracks 6 are centrosymmetric using the center of circle of turntable 1 as symmetrical centre, rail
The depth of groove in road 5 is gradually increased from one end of track to the other end, and two driving balls 4 and two tracks 6 correspond, and two
A driving ball 4 is centrosymmetric using the center of circle of turntable 1 as symmetrical centre, and corresponding rail is slidably arranged in driving ball 4
In road 6, two memory alloy wires 5 and two driving balls 4 are corresponded, and memory alloy wire passes through turntable 1 and corresponding driving
Ball 4 connects, so, can be powered to shrinking by memory alloy wire 5 pulls driving ball 4, makes that ball 4 is driven to generate pressure in groove
Power rotates turntable 1 in shaft 3 relative to driving ball 4, and driving ball 4 reaches track 6 by the depth of groove minimum of track 6
Depth of groove maximum, turntable 1 drives sensor 2 to monitoring position, and sensor 2 detects the displacement of buoyant raft, Ke Yizhuan
The direction of emat sensor probe, is monitored, to buoyant raft position by vertical and lateral displacement of the single displacement sensor to buoyant raft
The environmental suitability for moving monitoring is strong.
The structure of track 6 is discussed in detail.
The shape of track 6 is arc, and the radian of the radian and 1 periphery of turntable of track 6 is consistent.
The depth of groove maximum of two tracks 6 is symmetrical as symmetry axis using the center line of turntable；The groove of two tracks 6
The center line that depth minimum sentences turntable is that symmetry axis is symmetrical.
The position of sensor 2 is corresponding at the depth of groove minimum of a track in two tracks 6, guarantees sensor
2 monitoring range.
The structure of track memory alloy wire 5 is discussed in detail.
The setting position of a memory alloy wire in memory alloy wire 5 is concordant at the depth of groove minimum of track 6,
The setting position of another memory alloy wire in two memory alloy wires 5 and the depth of groove of the track are maximum
Place is concordant
The groove for guaranteeing that memory alloy wire 5 can drive driving ball to reach track 6 by the depth of groove minimum of track 6 is deep
Spend maximum.
Wherein, marmem is a kind of new material for having both sensing and driving dual function, by adding hot and cold
But can to its deformation process generate driving force and actuating length control, in the past by marmem drive area into
Row application is mostly using its shape memory effect, such as memory alloy spring, memorial alloy beam, this class formation needs to close memory
Golden unit is trained study, therefore involves great expense.And filiform NiTiCu (NiTi copper) memorial alloy price is typically less than 1 yuan,
Such memory alloy wire shows as good elasticity at low temperature, can be with force-extension, strain induced martensite phase transformation under high temperature, output
Restoring force simultaneously generates reply deformation.When the expansion and contraction of memory alloy wire is not more than 5%, such reciprocal process can be up to hundreds of thousands of
It is secondary.Therefore, the application memory alloy wire 5 is using Filamentous NiTiCu memorial alloy.
Based on identical inventive concept, the present invention also provides a kind of buoyant raft bidirectional displacement monitoring method the following steps are included:
Step 1, some memory alloy wire in two memory alloy wires 5 is powered, memory alloy wire shortens, and pulls phase
Corresponding driving ball 4.
Step 2, driving ball 4 generates pressure in corresponding track 6, rotates turntable 1 relative to driving ball 4, driving
Ball 4 is reached the depth of groove maximum of track 6 by the depth of groove minimum of track 6.
Step 3, turntable 1 drives sensor 2 to reach monitoring position, and sensor 2 detects the displacement of buoyant raft.
Step 2 is discussed in detail.
When to be monitored to the vertical deviation of buoyant raft.
The first memory alloy wire 5-1 in two memory alloy wires 5 is powered, the first memory alloy wire 5-1 shortens, and pulls
Corresponding first driving ball 4-1 in two driving balls 4.
First driving ball 4-1 generate pressure in corresponding first track 6-1 in two tracks 6, make turntable 1 relative to
First driving ball 4-1 rotation, the first driving ball 4-1 reach the first track 6-1's by the depth of groove minimum of the first track 6-1
Depth of groove maximum.
Turntable 1 drives sensor 2 to reach vertical monitoring position, and sensor 2 detects the vertical deviation of buoyant raft.
The pressure that first driving ball 4-1 is generated rotates counterclockwise turntable 1.
When to be monitored to the lateral displacement of buoyant raft.
First memory alloy wire 5-1 is powered off, the elongation of the first memorial alloy 5-1.
The second memory alloy wire 5-2 in two memory alloy wires is powered, the second memory alloy wire 5-2 shortens, and pulls
Corresponding second driving ball 4-2 in two driving balls 4.
Second driving ball 4-2 generate pressure in corresponding second track 6-2 in two tracks 6, make turntable 1 relative to
Second driving ball 6-2 rotation.
Second driving ball 4-2 is deep by the groove that the depth of groove minimum of the second track 6-2 reaches the second track 6-2
Maximum is spent, the first driving ball 4-1 is reached the depth of groove of the first track 6-1 by the depth of groove maximum of the first track 6-1
At minimum.
Turntable 1 drives sensor 2 to reach laterally monitoring position, sensor 2 and detects to the lateral displacement of buoyant raft.
The pressure that second driving ball 4-2 is generated rotates clockwise turntable 1.
The embodiment of the present invention is introduced in order to become apparent from, is introduced from the application method of the embodiment of the present invention below.
It referring to fig. 2, is A, the maximum of the depth of groove of the first track 6-1 at the minimum of the depth of groove of the first track 6-1
Place is B, and the depth of groove of the first track 6-1 to B from being gradually increased at A.It is D at the minimum of the depth of groove of second track 6-2,
The maximum of the depth of groove of second track 6-2 is C, and the depth of groove of the second track 6-2 to C from being gradually increased at D.First note
The setting position for recalling alloy wire 5-1 is corresponding at A, and the setting position of the second memory alloy wire 5-2 is corresponding at C, sensing
The setting position of device 2 is corresponding at D.
When to be monitored to the vertical deviation of buoyant raft.
First memory alloy wire 5-1 is powered, the first memory alloy wire 5-1 shortens, and pulls the first driving ball 4-1.First
Driving ball 4-1 generates pressure in the first track 6-1, rotates turntable 12 relative to the first driving ball 4-1 around the shaft, first drives
Dynamic ball 4-1 is reached at the B of the first track 6-1 by the A of the first track 6-1.At this point, the second driving ball 4-2 is located at the second track
At the D of 6-2.
The pressure that first driving ball 4-1 is generated rotates counterclockwise turntable 1, and turntable 1 drives sensor 2 to reach vertical monitoring
Position, sensor 2 detect the vertical deviation of buoyant raft.
When to be monitored to the lateral displacement of buoyant raft.
First memory alloy wire 5-1 is powered off, the elongation of the first memorial alloy 5-1.Second memory alloy wire 5-2 is led to
Electricity, the second memory alloy wire 5-2 shorten, and pull the second driving ball 4-2.Second driving ball 4-2 generates pressure in the second track 6-2
Power makes turntable 1 relative to the second driving ball 6-2 rotation.Second driving ball 4-2 reaches the second track by the D of the second track 6-2
At the C of 6-2, the first driving ball 4-1 is reached at the groove A of the first track 6-1 by the B of the first track 6-1.
The pressure that second driving ball 4-2 is generated rotates clockwise turntable 1, and turntable 1 drives sensor 2 to reach lateral monitoring
Position, sensor 2 detect the lateral displacement of buoyant raft.
The displacement progress lateral and vertical to buoyant raft of single sensor 2 is controlled by the way that two memory alloy wires 5 are alternative
Monitoring, structure is simple, integration is high, high-efficient, cheap, strong to the environmental suitability of buoyant raft displacement monitoring.
It should be noted last that the above specific embodiment is only used to illustrate the technical scheme of the present invention and not to limit it,
Although being described the invention in detail referring to example, those skilled in the art should understand that, it can be to the present invention
Technical solution be modified or replaced equivalently, without departing from the spirit and scope of the technical solution of the present invention, should all cover
In the scope of the claims of the present invention.
Claims (10)
1. a kind of buoyant raft bidirectional displacement monitoring device characterized by comprising turntable, sensor, shaft and two driving balls and
Two memory alloy wires；
The turntable rotates on vertical plane around the shaft；
The sensor is arranged on the periphery of the turntable；
It is opened up on the turntable there are two track, two tracks are in center pair by symmetrical centre of the center of circle of the turntable
Claim, the depth of groove of the track is gradually increased from one end of track to the other end；
Two driving balls and two tracks correspond, and two driving balls are symmetrical with the center of circle of the turntable
Center is centrosymmetric, and the driving ball is slidably arranged in corresponding track；
Two memory alloy wires and two driving balls correspond, and the memory alloy wire passes through the turntable and phase
Corresponding driving ball connection.
2. buoyant raft bidirectional displacement monitoring device according to claim 1, it is characterised in that:
The shape of the track is arc.
3. buoyant raft bidirectional displacement monitoring device according to claim 2, it is characterised in that:
The radian of the track and the radian in the disk peripheral face are consistent.
4. buoyant raft bidirectional displacement monitoring device according to claim 1, it is characterised in that:
At the setting position of a memory alloy wire in two memory alloy wires and the depth of groove minimum of the track
Concordantly；
The setting position of another memory alloy wire in two memory alloy wires and the depth of groove of the track are maximum
Place is concordant.
5. buoyant raft bidirectional displacement monitoring device according to claim 1, it is characterised in that:
The depth of groove maximum of two tracks is centrosymmetric using the center of circle of the turntable as symmetrical centre；
The center of circle that the depth of groove minimum of two tracks sentences the turntable is centrosymmetric for symmetrical centre；
The position of the sensor is corresponding at the depth of groove minimum of a track in two tracks.
6. a kind of buoyant raft bidirectional displacement monitoring method is monitored based on buoyant raft bidirectional displacement described in claim 1-5 any one
Device, which is characterized in that the buoyant raft bidirectional displacement monitoring method the following steps are included:
Some memory alloy wire in two memory alloy wires is powered, the memory alloy wire shortens, and pulls corresponding institute
State driving ball；
The driving ball generates pressure in corresponding track, makes turntable relative to driving ball rotation, the driving ball is by institute
State the depth of groove maximum that the track is reached at the depth of groove minimum of track；
Sensor described in the driven by rotary disc reaches monitoring position, and the sensor detects the displacement of the buoyant raft.
7. buoyant raft bidirectional displacement monitoring method according to claim 6, it is characterised in that:
When to be monitored to the vertical deviation of the buoyant raft；
The first memory alloy wire in two memory alloy wires is powered, first memory alloy wire shortens, and pulls two institutes
State corresponding first driving ball in driving ball；
It is described first driving ball generate pressure in corresponding first track in two tracks, make the turntable relative to
The first driving ball rotation, the first driving ball reach first rail by the depth of groove minimum of first track
The depth of groove maximum in road；
Sensor described in the driven by rotary disc reaches vertical monitoring position, and the sensor examines the vertical deviation of the buoyant raft
It surveys.
8. buoyant raft bidirectional displacement monitoring method according to claim 6, it is characterised in that:
The pressure that the first driving ball generates rotates counterclockwise the turntable.
9. buoyant raft bidirectional displacement monitoring method according to claim 7, it is characterised in that:
When to be monitored to the lateral displacement of the buoyant raft；
First memory alloy wire is powered off, the elongation of the first memory alloy wire；
The second memory alloy wire in two memory alloy wires is powered, second memory alloy wire shortens, and pulls two institutes
State corresponding second driving ball in driving ball；
It is described second driving ball generate pressure in corresponding second track in two tracks, make the turntable relative to
The second driving ball rotation；
The second driving ball reaches the depth of groove of second track most by the depth of groove minimum of second track
General goal, the first driving ball reach the depth of groove of first track most by the depth of groove maximum of first track
Small place；
Sensor described in the driven by rotary disc reaches laterally monitoring position, the sensor and examines to the lateral displacement of the buoyant raft
It surveys.
10. buoyant raft bidirectional displacement monitoring method according to claim 9, it is characterised in that:
The pressure that the second driving ball generates rotates clockwise the turntable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910258209.0A CN109916353B (en) | 2019-04-01 | 2019-04-01 | Device and method for monitoring bidirectional displacement of floating raft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910258209.0A CN109916353B (en) | 2019-04-01 | 2019-04-01 | Device and method for monitoring bidirectional displacement of floating raft |
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| CN109916353A true CN109916353A (en) | 2019-06-21 |
| CN109916353B CN109916353B (en) | 2024-01-16 |
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| CN109916353B (en) | 2024-01-16 |
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