CN110683025A - Ocean current driven anchor mooring type long-endurance glider - Google Patents
Ocean current driven anchor mooring type long-endurance glider Download PDFInfo
- Publication number
- CN110683025A CN110683025A CN201910957031.9A CN201910957031A CN110683025A CN 110683025 A CN110683025 A CN 110683025A CN 201910957031 A CN201910957031 A CN 201910957031A CN 110683025 A CN110683025 A CN 110683025A
- Authority
- CN
- China
- Prior art keywords
- glider
- shell
- ocean
- ocean current
- endurance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
Abstract
The invention belongs to the technical field of gliding submarines, and particularly relates to an ocean current driven anchor mooring type long-endurance glider. The invention effectively utilizes the widely existing ocean flow field, and generates different lift force and resistance by adjusting the attack angle between the adjustable transverse hydrofoil and the incoming flow, thereby driving the glider to float and dive without depending on a buoyancy adjusting device. The invention can float out of the water surface periodically, and utilizes the antenna mast at the tail part to carry out communication and data transmission. The invention is fixed in a certain area through the anchoring system and can not flow along with the wave. Meanwhile, the device has the capability of monitoring the profile marine environment, is low in energy consumption and can realize long-time uninterrupted operation. Under the condition that regional ocean currents exist, the marine ocean current monitoring system has high safety and secrecy, is low in energy consumption, is reliable to control during long voyage, and is suitable for monitoring regional ocean environments.
Description
Technical Field
The invention belongs to the technical field of gliding submarines, and particularly relates to an ocean current driven anchor mooring type long-endurance glider.
Background
A glide-type vehicle is a typical ocean exploration platform. It has been widely used in marine science research such as exploration of marine biological resources, submarine topography surveys, seismic geothermal activity monitoring, and marine environmental monitoring. The gliding type submersible can realize floating or diving by adjusting buoyancy, and the effect of continuous gliding movement is achieved.
In prior published patents and articles, gliders are a tool for large-scale ocean exploration. The partial gliding type submersible has the functions of gliding underwater and measuring the sitting bottom. The underwater observation platform can be submerged into the seabed as required, and due to the adoption of the shape of the perspective mirror, the resistance generated by the horizontal ocean current at the seabed is reduced, the sitting stability can be kept well, and the underwater observation platform can be used for carrying out long-time sitting observation. In order to safely and covertly monitor important ocean areas, it is generally required that unmanned submersibles be able to remain submerged in underwater target areas for long periods of time. If there is a current in the area, the unmanned submersible operates in the area significantly affected by the current.
The patent publication CN102887216A discloses an underwater variant glider comprising a modifiable pressure casing assembly, a retractable rotary wing assembly and a hydraulic drive system; when the drainage weight of the variable pressure-resistant shell component is less than the weight of the variable pressure-resistant shell component, the glider performs diving motion and slides underwater through horizontal power generated by the left wing plate and the right wing plate; after the glider slides in a diving way for a period of time, under the control of the hydraulic driving system, the first hydraulic cylinder and the double-head hydraulic cylinder extend, the drainage weight of the glider is increased, and the diving acceleration is slowed down; when the weight of the drainage water of the variable pressure-resistant shell component is larger than the weight of the variable pressure-resistant shell component, the diving acceleration is negative, the diving speed is reduced until the diving speed is negative, and at the moment, the glider starts to ascend and slides under the action of horizontal power generated by the left wing plate and the right wing plate. In the gliding process of the glider, the second hydraulic cylinder extends or shortens to change the incident flow angles of the left wing plate and the right wing plate, so that the sliding resistance is reduced, the horizontal power in the gliding process is increased, the gliding distance is increased, and the energy loss is reduced. However, the prior art has the following defects:
(1) the gliding type submersible has poor maneuverability, is difficult to eliminate the interference of ocean currents, has the motion characteristic of wave following and flow following, and cannot meet the operation requirement. The conventional AUV has strong maneuverability, but has high energy consumption, and cannot continuously operate for a super long time.
(2) Conventional submerged buoys, while fixed underwater, rely on communication buoys for real-time communication. In some important busy waters, the safety and privacy of the water are insufficient.
(3) Part of the anchoring type submerged buoy has the capability of profile movement. But its ability to move in profile under the influence of sea currents is greatly limited. Meanwhile, the energy consumption of the adjusting mode of the profile movement is high, and the energy system carried by the adjusting mode is difficult to meet the requirement of overlong operation time.
In summary, how to effectively monitor important sea areas with ocean current influence is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an ocean current driven anchored long-endurance glider which can realize long-time monitoring of the marine environment in an area without depending on a buoyancy adjusting device.
The purpose of the invention is realized by the following technical scheme: the device comprises a shell, wherein fairings are arranged at the head part and the tail part of the shell, a transverse hydrofoil is arranged on the side surface of the shell, and a control system, a battery pack module and a user task module are arranged in the shell; the user task module is connected with the control system through a watertight connector; the system also comprises an anchoring system; the anchoring system comprises an anchoring base, and the anchoring base is connected with the shell head part through an anchor chain; an antenna is arranged at the tail part of the shell; one end of the antenna is connected with the user task module, and the other end of the antenna extends out of the tail of the shell; a steering engine is arranged in the shell; the steering engine is connected with the battery pack module and is connected with the transverse hydrofoil through a worm and gear mechanism.
The present invention may further comprise:
a pressure-resistant cabin is arranged in the shell; the control system, the battery pack module and the steering engine are all arranged in the pressure-resistant cabin; and the user task module is rigidly connected with one end of the pressure-resistant cabin.
Also comprises a longitudinal hydrofoil; the longitudinal hydrofoil is arranged at the tail part of the shell.
The invention has the beneficial effects that:
the invention effectively utilizes the widely existing ocean flow field, and generates different lift force and resistance by adjusting the attack angle between the adjustable transverse hydrofoil and the incoming flow, thereby driving the glider to float and dive without depending on a buoyancy adjusting device. The invention can float out of the water surface periodically, and utilizes the antenna mast at the tail part to carry out communication and data transmission. The ship is suspended at a certain depth under water most of the time, avoids ships going to and coming from a busy sea channel, and has high safety and secrecy. The invention is fixed in a certain area through the anchoring system and can not flow along with the wave. Meanwhile, the device has the capability of monitoring the profile marine environment, is low in energy consumption and can realize long-time uninterrupted operation. Under the condition that regional ocean currents exist, the marine ocean current monitoring system has high safety and secrecy, is low in energy consumption, is reliable to control during long voyage, and is suitable for monitoring regional ocean environments.
Drawings
Fig. 1 is a schematic diagram of the operation of the present invention.
Fig. 2 is a sectional view of the internal structure of the present invention.
Figure 3 is a schematic view of the mooring system of the present invention.
Fig. 4 is a system adjustment flow diagram of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides an ocean current driven anchor mooring type long-endurance glider, which is different from a conventional glider in that: the device is not provided with a buoyancy adjusting device, can drive the heave motion of the carrier by utilizing the acting force generated by ocean current, and is suitable for monitoring the ocean environment of important areas for a long time.
An ocean current driven anchor mooring type long endurance glider mainly comprises the following components: gliders and mooring systems. The glider mainly comprises a head fairing 1, a control system 2, a battery pack module 3, a large-torque steering engine 4, an adjustable transverse hydrofoil 5, a user task module 6, a tail fairing 7, a fixed longitudinal hydrofoil 8, an antenna rod 9, a pressure-resistant cabin 10, a worm and gear structure 11 and a watertight connector 12. The control system 2, the battery module 3 and the high torque steering engine 4 are placed in a pressure resistant cabin 10. One end of the pressure-resistant cabin 10 is rigidly connected to the user task module 6 and performs data communication and communication through a watertight connector 12. The head fairing 1 and the tail fairing 7 are respectively positioned at the head part and the tail part of the glider, play a role in guiding flow and provide a carrying space. An antenna rod 9 for communication and data transmission is positioned at the tail part, one end of the antenna rod is connected with the user task module 6, and the other end of the antenna rod penetrates through the tail part fairing 7 and protrudes for a certain length to ensure the strength of a communication signal. The fixed longitudinal hydrofoils 8 are located at the tail to inhibit the rolling motion of the glider. The large-torque steering engine 4 is a main actuating mechanism of the control system 2, and is driven by the worm gear structure 11, so that the adjustable transverse hydrofoil 5 rotates around the shaft, the attack angle between the adjustable transverse hydrofoil 5 and the incoming flow is changed, and the effect of changing the lift force and the resistance of the glider is achieved. And the mooring system is composed of a mooring base 13 and a zero-buoyancy anchor chain 14. The mooring base 13 is placed on the seabed at a certain depth and is connected to the nose fairing 1 by a chain 14 so that the glider is fixed in a certain area. The anchor-mooring glider can realize three different motion effects of floating, submerging and suspending by combining the pulling force of the anchor chain 14 and the lifting force and the resistance generated by the adjustable transverse hydrofoil 5.
The working principle of the ocean current driven anchored long endurance glider is described with reference to fig. 1.
The hydrofoil generates certain lift L and drag D when moving in water. The characteristics of the wing plate mainly depend on the geometrical characteristics and geometrical elements of the wing plate. And the tension of the anchor chain is T. In the present invention, the glider maintains positive buoyancy B. The resultant force of the four determines the state of motion of the glider. Thus, the glider can generate different lift and drag to meet different motion requirements by adjusting the angle of attack between the lateral hydrofoils 5 and the incoming flow.
With reference to fig. 2, the internal actuator of the ocean current driven mooring type long endurance glider mainly comprises: the system comprises a control system 2, a battery pack module 3, a large-torque steering engine 4, an adjustable transverse hydrofoil 5, a user task module 6, a pressure-resistant cabin 10, a worm and gear structure 11 and a watertight connector 12.
The control system 2, the battery module 3 and the high torque steering engine 4 are arranged in a pressure resistant cabin 10. One end of the pressure resistant cabin 10 is rigidly connected to the user task module 6. The control system 2 communicates data with the user task module 6 via the bulkhead watertight connector 12. The control system 2 can command the rotation angle of the high torque steering engine 4. Through the transmission of the worm gear structure 11, the large-torque steering engine 4 enables the adjustable transverse hydrofoil 5 to rotate around the shaft, so that the attack angle between the adjustable transverse hydrofoil 5 and the incoming flow is changed, different lift forces are generated, and the purpose of changing or controlling the motion state of the glider is achieved. The large-torque steering engine 4 has high control precision and no accumulated error. Through the worm gear pair with high transmission ratio, the rotation angle precision of the adjustable transverse hydrofoil 5 is further improved, larger torque can be provided, a self-locking effect can be formed, and damage to the large-torque steering engine 4 is avoided.
The anchoring system of the ocean current driven anchored long endurance glider is described in connection with fig. 3.
Due to the mooring characteristics, the chain has a non-negligible effect on the glider, especially in sea current environments. To reduce possible adverse effects, a zero-buoyancy string is selected as the anchor chain. The mooring base 13 is placed in the target area with the ocean currents submerged in the ocean floor. The length of the zero buoyancy anchor chain 14 is several times the depth of the sea floor. Both ends of which are connected to the mooring base 13 and the nose fairing 1, respectively, to secure the glider within the target area.
The system regulation process of the present invention is described in conjunction with fig. 4.
The actuator of the system is a large-torque steering engine 4, the controlled object is the working depth of a glider, the given quantity is the expected working depth of the glider, and the control quantity is the rotating angle of the large-torque steering engine 4.
The system gives the desired working depth of the glider, depending on the mission requirements (surface communication or underwater latency). When performing the motion state adjustment, the system compares the desired operating depth of the glider to the current depth value. And the controller controls the rotation direction and the rotation angle of the large-torque steering engine 4 according to the result of the comparator. The user task module 6 detects the current depth value of the glider, feeds the detection result back to the comparator for comparison and closed-loop adjustment, and therefore the effect of accurately controlling the working depth of the submersible is achieved.
The working process of the invention is as follows:
1) in an initial state, the glider is positioned on the water surface and is buried in the bow, so that the tail antenna rod 9 is exposed out of the water surface;
2) and after the communication and data transmission of the user task module 6, a diving instruction is sent to the control system 2. The control system 2 instructs the large-torque steering engine 4 to reduce the attack angle between the transverse hydrofoil 5 and the incoming flow, so that the lift force of the glider is reduced, and the glider sinks;
3) the control system 2 finely adjusts the angle of the adjustable transverse hydrofoil 5 according to the depth information provided by the user task module 6 so as to achieve the effect of depth control;
4) after the glider reaches a preset latent state, the control system 2 sleeps to wait for the next awakening;
5) after a certain time, the user task module 6 wakes up the control system 2 and issues a floating instruction to the control system 2. The control system 2 instructs the large-torque steering engine 4 to increase the attack angle between the transverse hydrofoil 5 and the incoming flow, so that the lift force of the glider is increased, and the glider floats upwards;
6) and repeating the working process.
The invention effectively utilizes the widely existing ocean flow field, and generates different lift force and resistance by adjusting the attack angle between the adjustable transverse hydrofoil 5 and the incoming flow, thereby driving the glider to float and dive without depending on a buoyancy adjusting device.
The invention can float out of the water surface regularly, and the antenna rod 9 at the tail part is utilized for communication and data transmission. The ship is suspended at a certain depth under water most of the time, avoids ships going to and coming from a busy sea channel, and has high safety and secrecy.
The invention is fixed in a certain area through the anchoring system and can not flow along with the wave. Meanwhile, the device has the capability of monitoring the profile marine environment, is low in energy consumption and can realize long-time uninterrupted operation.
Under the condition that regional ocean currents exist, the marine ocean current monitoring system has high safety and secrecy, is low in energy consumption, is reliable to control during long voyage, and is suitable for monitoring regional ocean environments.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An ocean current driven anchor mooring type long-endurance glider comprises a shell, wherein fairings are arranged at the head and the tail of the shell, a transverse hydrofoil is arranged on the side surface of the shell, and a control system, a battery pack module and a user task module are arranged in the shell; the user task module is connected with the control system through a watertight connector; the method is characterized in that: the system also comprises an anchoring system; the anchoring system comprises an anchoring base, and the anchoring base is connected with the shell head part through an anchor chain; an antenna is arranged at the tail part of the shell; one end of the antenna is connected with the user task module, and the other end of the antenna extends out of the tail of the shell; a steering engine is arranged in the shell; the steering engine is connected with the battery pack module and is connected with the transverse hydrofoil through a worm and gear mechanism.
2. An ocean current driven mooring type long endurance glider according to claim 1, wherein: a pressure-resistant cabin is arranged in the shell; the control system, the battery pack module and the steering engine are all arranged in the pressure-resistant cabin; and the user task module is rigidly connected with one end of the pressure-resistant cabin.
3. An ocean current driven mooring long endurance glider according to claim 1 or 2, wherein: also comprises a longitudinal hydrofoil; the longitudinal hydrofoil is arranged at the tail part of the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910957031.9A CN110683025A (en) | 2019-10-10 | 2019-10-10 | Ocean current driven anchor mooring type long-endurance glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910957031.9A CN110683025A (en) | 2019-10-10 | 2019-10-10 | Ocean current driven anchor mooring type long-endurance glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110683025A true CN110683025A (en) | 2020-01-14 |
Family
ID=69112093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910957031.9A Pending CN110683025A (en) | 2019-10-10 | 2019-10-10 | Ocean current driven anchor mooring type long-endurance glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110683025A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356980A (en) * | 2020-11-17 | 2021-02-12 | 江苏科技大学 | Anchoring system for underwater landing of submersible vehicle |
| CN115071926A (en) * | 2022-05-16 | 2022-09-20 | 西北工业大学 | Petri network-based autonomous underwater vehicle anchoring and bottoming task control method |
| CN116027671A (en) * | 2023-03-28 | 2023-04-28 | 中国海洋大学 | Anchoring method and system of wave glider |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013115761A1 (en) * | 2011-10-28 | 2013-08-08 | Aerovironment Inc. | Ocean-air vehicle |
| US9616997B2 (en) * | 2008-06-16 | 2017-04-11 | Aurora Flight Sciences Corporation | Combined submersible vessel and unmanned aerial vehicle |
| CN106628076A (en) * | 2016-10-20 | 2017-05-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Revolving-ring underwater glider |
| CN206750105U (en) * | 2017-03-29 | 2017-12-15 | 浙江大学 | A kind of rhombus wing underwater glider with the on-fixed wing |
| CN207106809U (en) * | 2017-03-22 | 2018-03-16 | 台州市港航管理局 | A kind of fixed float type marine current surveying device |
| CN108408010A (en) * | 2018-03-26 | 2018-08-17 | 中国海洋大学 | A kind of underwater glider wing and its control and working method |
| CN209241288U (en) * | 2018-11-07 | 2019-08-13 | 中电科海洋信息技术研究院有限公司 | Underwater glider |
-
2019
- 2019-10-10 CN CN201910957031.9A patent/CN110683025A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9616997B2 (en) * | 2008-06-16 | 2017-04-11 | Aurora Flight Sciences Corporation | Combined submersible vessel and unmanned aerial vehicle |
| WO2013115761A1 (en) * | 2011-10-28 | 2013-08-08 | Aerovironment Inc. | Ocean-air vehicle |
| CN106628076A (en) * | 2016-10-20 | 2017-05-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Revolving-ring underwater glider |
| CN207106809U (en) * | 2017-03-22 | 2018-03-16 | 台州市港航管理局 | A kind of fixed float type marine current surveying device |
| CN206750105U (en) * | 2017-03-29 | 2017-12-15 | 浙江大学 | A kind of rhombus wing underwater glider with the on-fixed wing |
| CN108408010A (en) * | 2018-03-26 | 2018-08-17 | 中国海洋大学 | A kind of underwater glider wing and its control and working method |
| CN209241288U (en) * | 2018-11-07 | 2019-08-13 | 中电科海洋信息技术研究院有限公司 | Underwater glider |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356980A (en) * | 2020-11-17 | 2021-02-12 | 江苏科技大学 | Anchoring system for underwater landing of submersible vehicle |
| CN112356980B (en) * | 2020-11-17 | 2021-12-17 | 江苏科技大学 | Anchoring system for underwater landing of submersible vehicle |
| CN115071926A (en) * | 2022-05-16 | 2022-09-20 | 西北工业大学 | Petri network-based autonomous underwater vehicle anchoring and bottoming task control method |
| CN115071926B (en) * | 2022-05-16 | 2023-12-19 | 西北工业大学 | Autonomous underwater vehicle anchoring bedding task control method based on Petri network |
| CN116027671A (en) * | 2023-03-28 | 2023-04-28 | 中国海洋大学 | Anchoring method and system of wave glider |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109703705B (en) | Semi-submersible unmanned platform | |
| WO2019184662A1 (en) | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof | |
| CN110683025A (en) | Ocean current driven anchor mooring type long-endurance glider | |
| JP5504499B2 (en) | Solar underwater glider and its submarine method | |
| JP2007276609A (en) | Underwater glider | |
| CN111572720A (en) | High-speed high-sea-condition submersible multi-body unmanned aircraft and control method thereof | |
| JPH0749277B2 (en) | A glider-type submersible with control of boat attitude by adjusting gravity and buoyancy | |
| CN106428421B (en) | The more boat states of one kind navigate by water device | |
| CN112591059A (en) | Underwater vehicle control method and device | |
| CN116872661B (en) | Ocean aircraft | |
| CN211969710U (en) | Pod type adjustable empennage multi-degree-of-freedom underwater towed body | |
| CN210592382U (en) | Underwater towed body with stable course | |
| CN110040230B (en) | Ocean carrier for converting wave energy into low-frequency pitching motion to realize propulsion | |
| CN209241290U (en) | Deep-sea unmanned remote-controlled vehicle | |
| CN110683026A (en) | Ocean current driven flying wing type fish-dragging device | |
| CN110775199B (en) | Ocean current energy submerged buoy capable of rising and sinking | |
| CN212556696U (en) | High-speed high-sea-condition submersible multi-body unmanned aircraft | |
| CN113212670B (en) | Cross-water-surface shuttle type unmanned ship capable of flexibly switching operation forms | |
| CN116039884A (en) | AUV type towing observation platform and use method thereof | |
| CN211281425U (en) | Rudder-operated multi-degree-of-freedom controlled underwater vehicle | |
| CN114104199B (en) | Low-power-consumption self-elevating submerged buoy based on glider and working method thereof | |
| CN115503870B (en) | Wave wing plate with float state real-time supervision and automatically regulated function | |
| CN206012910U (en) | Multiple buoyancy is on an even keel or the hull that berths | |
| CN216070461U (en) | AUV formula drags observation platform | |
| CN113581389B (en) | Submerged floating unmanned ship and operation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200114 |