CN111156855A - Electronic warfare equipment virtual training man-machine interaction system - Google Patents
Electronic warfare equipment virtual training man-machine interaction system Download PDFInfo
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- CN111156855A CN111156855A CN201911229847.6A CN201911229847A CN111156855A CN 111156855 A CN111156855 A CN 111156855A CN 201911229847 A CN201911229847 A CN 201911229847A CN 111156855 A CN111156855 A CN 111156855A
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Abstract
The invention discloses a virtual training human-computer interaction system for electronic warfare equipment, which comprises a participant, an interaction system and a VR training system, wherein the participant performs human-computer interaction through VR interaction equipment to realize VR training of the electronic warfare equipment, the VR equipment comprises generation and output equipment of interaction signals such as gestures, sound and various sensors, the interaction system receives and detects the interaction signals, analyzes and processes the interaction signals, analyzes interaction instructions and accurately understands the requirements of users, the VR training system comprises virtual cognition, operation, maintenance and application training contents of the electronic warfare equipment, and in the virtual training process, the system automatically performs flow control according to the operation intention of the users, and finally generates corresponding training contents to be input into VR glasses of the participant. Has the advantages that: the human-computer interaction system realizes simple, natural and efficient interaction functions between the participant and the virtual equipment, and greatly improves the efficiency of virtual training of the electronic warfare equipment.
Description
Technical Field
The invention relates to the technical field of electronic warfare equipment, in particular to a virtual training human-computer interaction system for electronic warfare equipment.
Background
Virtual Reality (VR) is a research direction with frontier multidisciplinary intersection, integrates multiple scientific technologies such as computer graphics technology, computer simulation technology, sensor technology, display technology and the like, creates a virtual information environment on a multidimensional information space, enables a user to have an immersive sense of personally on the scene, has perfect interaction capability with the environment, and is helpful for inspiring ideas. A complete virtual reality system mainly comprises a plurality of subsystems such as a simulation environment system, a perception system, a human-computer interaction system, a sensing device and the like. The simulated environment system is a dynamic three-dimensional virtual scene generated by a computer and has the characteristics of being very exquisite, very vivid and immersed; the perception system mainly comprises all human perception capability ranges including vision, hearing, touch, smell, taste, movement and the like generated by the system; the human-computer interaction system is used for automatically analyzing and processing all behavior and action data generated by a human, responding to generated contents in real time and feeding the contents back to various sensory organs of the human; the sensing devices are mainly various interaction devices and sensors used in virtual reality applications, such as position, speed, temperature, etc.
The design of man-machine interaction system is also called interactive design, which refers to a mechanism for interaction between designer and service. The human-computer interaction design based on the user experience is to consider the background, the use experience, the feeling in the operation process and the like of the user, so that a product conforming to the end user is designed, the end user feels pleasure when using the product, the product conforms to the logic of the end user, and the use efficiency of the product is improved. Human-computer interaction in virtual reality is different from traditional human-computer interaction, for example, human interaction is performed through a mouse, a keyboard, a screen or some kind of sensor, but a system is adjusted in real time and synchronously through five sense organs of a human or reaction actions, and changes such as presented images or sounds are further displayed.
The design principle of the virtual reality human-computer interaction is as follows:
(1) the visibility of the functionality is strong. Namely, the more easily the trainee finds and knows the functions of the interactive part better in the process of using the virtual reality system, and the trainee can use and operate the virtual reality system quickly.
(2) And the interactive feedback is strong. When the trainee generates relevant operations or behaviors in the virtual reality environment, various corresponding feedbacks can be timely and accurately carried out, so that the trainee can carry out the next operation or behavior.
(3) Reasonable limitation. In the virtual reality system, it is necessary to restrict the operation of the trainee at a specific timing or at a specific position in order to prevent the confusion of the system function due to the misoperation of the trainee.
(4) The mapping is to be consistent. The designed interactive function can accurately express the corresponding relation between the control and the control effect thereof, and the performance and the operation of the same function have consistency.
(5) To be instructive. Clear and sufficient operation prompts are provided at necessary time or position.
(6) It should have openness. The virtual reality system is different from the traditional human-computer interaction system, and the trainees are personally on the scene in the simulated virtual environment and experience and carry out interactive operation through various perception systems, so the openness of the interaction needs to be continuously enhanced along with the development of the technology.
The virtual reality technology can bring all-round stereoscopic feeling to people, people can be immersed in a wonderful virtual environment, simple, passive and harsh interaction states among human machines are changed, and real, comprehensive and deep human-computer interaction is achieved. Therefore, virtual reality is one of the most advanced and promising technologies at present.
Currently, VR training interaction devices are mainly helmet-mounted displays, data gloves, data clothing, three-dimensional position sensors, three-dimensional sound generators, and the like. The human-computer interaction capability of the virtual reality depends on the development of stereoscopic display and sensor technology, and the device is overweight, low in resolution, large in delay, wired, low in tracking precision, not wide enough in view field, easy to fatigue eyes and the like. The technology for generating three-dimensional graphics is mature, and the key is how to generate the three-dimensional graphics in real time, and the refreshing frequency needs to be improved as much as possible on the basis of not reducing the quality and the complexity of the graphics. The electronic warfare equipment training needs to realize the vivid reproduction of equipment functions in VR visual simulation under different training environments, and realizes a human-computer interaction function, so that the effects of equipment cognition, operation and application training are accurately simulated.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
The invention aims to provide a training man-machine interaction system for electronic warfare equipment, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a virtual training human-computer interaction system for electronic combat equipment is characterized by comprising a participant, an interaction system and a VR training system, wherein the participant performs human-computer interaction through VR interaction equipment to realize VR training of the electronic combat equipment, the VR equipment comprises gesture, sound, various sensors and other interaction signal generation and output equipment, the interaction system comprises signal detection, signal processing and instruction analysis to accurately understand the requirements of a user, the VR training system comprises virtual cognition, operation, maintenance and application training contents of the electronic combat equipment, in the virtual training process, the system automatically performs flow control according to the operation intention of the user, and finally generates corresponding training contents to be input into VR glasses of the participant.
Further, the participant is connected with a VR training system through VR interactive equipment, and the sensors comprise a position sensor, a pressure sensor, a temperature sensor, a humidity sensor and the like worn by the participant.
Furthermore, signal detection means receiving and detecting of interactive signals, for example, based on the UWB ultra wide band positioning technology, real-time accurate positioning function of personnel in a virtual training laboratory is realized, wide area position information is provided for multi-person collaborative training, a UWB personnel positioning system is composed of three parts, namely hardware positioning equipment (positioning base station, positioning tag), a positioning engine and application software, the positioning equipment comprises a plurality of UWB base stations and a certain number of UWB positioning tags, the positioning tag sends UWB ultra wide band signals to the positioning base station through wireless pulses, and the positioning base station is erected in an area needing positioning service to capture the UWB signals.
Further, the signal processing refers to analysis and processing of an interactive signal, for example, a real-time accurate positioning function of personnel in a virtual training laboratory is realized based on a UWB ultra-wideband positioning technology, after the interactive system receives and detects a positioning signal, positioning base stations are linked and synchronized through a synchronization controller, the synchronization controller is connected to a server and is resolved by a positioning engine, and meanwhile, positioning data is output to upper application software, and various applications based on high-precision positioning are realized by the upper application software.
Further, the instruction analysis is that the system translates and analyzes the received interactive electric signal, and analyzes the electric signal into an action instruction, so that the intention and the requirement of the user can be accurately understood.
Furthermore, the VR training system comprises training contents of virtual cognition, operation, maintenance and application of the electronic warfare equipment, the virtual training contents of the electronic warfare equipment are many, and the content is dynamically updated, in order to facilitate organization and training, the virtual training content of the electronic warfare equipment is divided into four large blocks, the virtual cognitive training of the equipment mainly aims at new trainees to carry out the basic theory of electronic warfare and the cognitive training of the equipment so as to complete professional entry-level training, the virtual operation training of the equipment mainly aims at the trainees who already have certain basic knowledge of the theoretical equipment to carry out panel operation of the equipment extension and whole machine operation, the virtual equipment maintenance training mainly aims at trainees engaged in equipment guarantee to carry out equipment fault detection and fault removal training, and the virtual equipment operation training mainly carries out multi-level and multi-scale drilling training such as single-set equipment tactical operation, multi-set equipment cooperative training, large-scale combined combat and the like.
Further, the VR training system further comprises a knowledge base, wherein the knowledge base comprises an equipment knowledge base, an equipment model base, a training rule base and a training scene base, and the knowledge base is indispensable to the virtual training system of the electronic warfare equipment and is a dynamic knowledge database capable of being updated in real time.
Further, the system workflow control is to realize the management of the training content of the electronic warfare equipment and the control of the training process, the electronic warfare is a complex task system, generally comprising a plurality of subtasks, and a plurality of task team members participate together, and the subtasks have complex information interaction, interdependency and mutual restriction relationship, along with the development of virtual reality, scientific visual computation and distributed computer simulation, the electronic warfare training often needs to complete distributed interactive tasks in a cooperative or antagonistic way in a local area network environment, the distributed multi-role cooperative system reasonably divides the task into relatively small subtasks which are easy to develop and organize for implementation according to the idea of 'division and cooperation', and a plurality of different task role members interactively cooperate to complete the whole task.
Further, the real-time generation of the training content means that the virtual training scene is always dynamically updated and redrawn in real time as the viewing angle and the position of the user and the interaction behavior of the user constantly change.
The multi-person collaborative virtual training method for the electronic war equipment comprises the following steps:
step 1, a VR training system firstly needs to model the appearances and functions of electronic warfare equipment of various types, and the establishment of an electronic warfare equipment simulation scene is completed;
step 2, the VR training system needs to model performance indexes of electronic warfare equipment of various types, and the electronic warfare equipment fighting function and the warfare technology index simulation are completed;
step 3, the VR training system also needs to model the landform, the weather, the hydrology and the like of the electronic warfare training field, so as to provide a vivid actual warfare training environment for training;
step 4, the VR training system also needs to model the electromagnetic environment, so as to provide an electronic countermeasure electromagnetic environment with configurable complexity for training;
step 5, the VR training system needs to dynamically update the contents of a training knowledge base and an equipment model base, and provides knowledge support for virtual training;
step 6, designing a training rule base and a training scene base by the VR training system to meet the requirements of different levels of training;
step 7, the participators wear VR hardware equipment such as VR helmets, VR data gloves and the like and participate in virtual training of electronic warfare equipment;
step 8, the participators send out various interactive instructions through VR interactive hardware by means of gestures, voice and various sensor strings, and intend to carry out cooperative training with other participators or interact with an external training environment;
step 9, the VR training system detects the interactive electric signal sent by the user, and performs signal receiving, signal detection, signal analysis and processing to form an interactive instruction which can be recognized, understood and executed;
and step 10, continuously updating and generating training contents dynamically in real time by the VR training system according to the interactive instructions of the personnel participating in training, and performing virtual training on the electronic warfare equipment.
The invention has the beneficial effects that:
1. the man-machine interaction system gets through a communication channel between a person and an external VR training system through hardware equipment such as a VR helmet, an operating handle, a data hand or a sensor sleeve, all actions generated by the person are changed into data, the interaction data are automatically analyzed and processed through the VR training system, and then the generated content is responded in real time and fed back to various sense organs of the person, so that integrated communication between the person and the electronic equipment virtual training system is realized, and the electronic warfare virtual training task is completed.
2. The human-computer interaction system realizes simple, natural and efficient interaction functions between the participant and the virtual equipment, and can greatly improve the efficiency of virtual training of the electronic warfare equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a system diagram of an electronic warfare equipment virtual training human-computer interaction system according to an embodiment of the invention.
FIG. 2 is a flowchart illustrating the operation of a virtual training human-computer interaction system for electronic warfare equipment according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following drawings and detailed description:
according to the embodiment of the invention, a virtual training human-computer interaction system for electronic warfare equipment is provided.
As shown in figure 1, the electronic warfare equipment training man-machine interaction system comprises a participant, an interaction system and a VR training system, the participant performs man-machine interaction through VR interaction equipment to realize VR training of the electronic warfare equipment, and the VR equipment comprises gesture, sound, various sensors and other interaction signal generation and output equipment. The interactive system comprises signal detection, signal processing and instruction analysis, the requirements of a user are accurately understood, the VR training system comprises training contents of electronic warfare equipment virtual cognition, operation, maintenance and application, in the virtual training process, the system automatically carries out flow control according to the operation intention of the user, and finally generates corresponding training contents to be input into VR glasses of a participant.
The trainees pass through VR interactive device and are connected with VR training system, the sensor includes position sensor, pressure sensor, temperature sensor, humidity transducer etc. that the trainees dressed.
The signal detection means receiving and detecting of interactive signals, for example, a real-time accurate positioning function of personnel in a virtual training laboratory is realized based on a UWB positioning technology, wide-area position information is provided for multi-person collaborative training, a UWB personnel positioning system is composed of three parts, namely hardware positioning equipment (a positioning base station and a positioning label), a positioning engine and application software, the positioning equipment comprises a plurality of UWB base stations and a certain number of UWB positioning labels, the positioning labels send UWB ultra-wideband signals to the positioning base station through wireless pulses, and the positioning base station is erected in an area needing to provide positioning service to capture the UWB signals.
The signal processing refers to analysis and processing of interactive signals, for example, a real-time accurate positioning function of personnel in a virtual training laboratory is realized based on a UWB (ultra Wide band) positioning technology, after an interactive system receives and detects positioning signals, positioning base stations are linked and synchronized through a synchronization controller, the synchronization controller is connected to a server and is resolved by a positioning engine, positioning data is output to upper application software, and various applications based on high-precision positioning are realized by the upper application software.
The instruction analysis is that the system translates and analyzes the received interactive electric signal, and analyzes the electric signal into an action instruction, so that the intention and the requirement of the user are accurately understood.
The VR training system comprises training contents of virtual cognition, operation, maintenance and application of electronic warfare equipment, the virtual training contents of the electronic warfare equipment are many, and the content is dynamically updated, in order to facilitate organization and training, the virtual training content of the electronic warfare equipment is divided into four large blocks, the virtual cognitive training of the equipment mainly aims at new trainees to carry out the basic theory of electronic warfare and the cognitive training of the equipment so as to complete professional entry-level training, the virtual operation training of the equipment mainly aims at the trainees who already have certain basic knowledge of the theoretical equipment to carry out panel operation of the equipment extension and whole machine operation, the virtual equipment maintenance training mainly aims at trainees engaged in equipment guarantee to carry out equipment fault detection and fault removal training, and the virtual equipment operation training mainly carries out multi-level and multi-scale drilling training such as single-set equipment tactical operation, multi-set equipment cooperative training, large-scale combined combat and the like.
The VR training system further comprises a knowledge base, wherein the knowledge base comprises an equipment knowledge base, an equipment model base, a training rule base and a training scene base, and the knowledge base is indispensable to the virtual training system of the electronic warfare equipment and is a dynamic knowledge database capable of being updated in real time.
The system workflow control is to realize the management of the training content of the electronic warfare equipment and the control of the training process, the electronic warfare is a complex task system, generally comprising a plurality of subtasks, a plurality of task team members participate together, the subtasks have complex information interaction, interdependency and mutual restriction relationship, along with the development of virtual reality, scientific visual calculation and distributed computer simulation, the electronic warfare training often needs to finish distributed interactive tasks in a cooperative or antagonistic way in a local area network environment, the distributed multi-role cooperation system reasonably divides the tasks into relatively small subtasks which are easy to develop and organize and implement according to the idea of 'divide and conquer', and a plurality of different task role members interactively cooperate to finish the whole task.
The training content is generated in real time, namely, the virtual training scene is constantly updated and redrawn in real time along with the continuous change of the viewing angle and the position of the user and the interaction behavior of the user.
As shown in fig. 2, in the actual training process, the practice method and the workflow of the virtual training human-computer interaction system for electronic warfare equipment include the following steps:
step 1, wearing corresponding VR equipment by personnel involved in training, and initializing a VR training system.
And 2, starting the work of the human-computer interaction subsystem software of the VR training system, and continuously and automatically detecting whether a person sends an interaction action at regular time.
And 3, once the interaction action of a person is detected, the system automatically analyzes and processes the acquired interaction data, and analyzes a corresponding instruction according to a predefined data protocol.
And 4, common instructions of the electronic warfare virtual training system comprise three categories, one category is a control instruction, namely a determining operation instruction, a cancelling operation instruction and a selecting operation instruction which are sent by a user in the training process, and the VR training system carries out corresponding response according to different instructions. The second type is a training content selection instruction, namely, a user sends a change or selects task content needing training currently in the training process, the electronic warfare virtual training mainly comprises equipment cognitive training, equipment operation training, equipment maintenance training, equipment comprehensive application training and the like, and the VR training system generates corresponding training content according to different selection instructions and sends the training content to VR glasses of a participant. The third category is the personnel status and training status instructions, i.e. whether the working status of the user fed back in real time during the training process is standby or operation, and if the user is operating, what the user is operating. The training state feedback system working state is, for example, the system is single-person training, not multi-person collaborative training, and what the current training task is.
And 5, automatically performing flow control according to the operation intention of the user by the system through a human-computer interaction function, and finally generating corresponding training content to be input into VR glasses of the trainees.
In conclusion, by means of the technical scheme, the man-machine interaction system changes the simple, passive and hard interaction state between man and machine, and realizes more real, comprehensive and deep man-machine interaction, so that the virtual reality technology can be utilized to bring all-around three-dimensional feeling to people, people can be immersed in a wonderful virtual environment, and the electronic war equipment training can achieve better effect. The electronic combat equipment virtual training system is used for easily developing equipment operation, equipment maintenance and combat application training under a combined combat background indoors, is low in cost and small in danger, facilitates customization of various different training scenes, is highly free in training condition setting, is randomly adjusted in training difficulty, and greatly improves the training level under actual combat conditions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A virtual training human-computer interaction system for electronic combat equipment is characterized by comprising a participant, an interaction system and a VR training system, wherein the participant performs human-computer interaction through VR interaction equipment to realize VR training of the electronic combat equipment, the VR equipment comprises gesture, sound and generation and output equipment of interaction signals of various sensors, the interaction system comprises signal detection, signal processing and instruction analysis to accurately understand the requirements of a user, the VR training system comprises virtual cognition, operation, maintenance and application training contents of the electronic combat equipment, in the virtual training process, the system automatically performs flow control according to the operation intention of the user, and finally generates corresponding training contents to be input into VR glasses of the participant.
2. The electronic warfare equipment virtual training human-computer interaction system of claim 1, wherein the trainee is connected with the VR training system through VR interaction equipment, and the sensors include a position sensor, a pressure sensor, a temperature sensor and a humidity sensor worn by the trainee.
3. The human-computer interaction system for virtual training of electronic warfare equipment according to claim 1, wherein the signal detection means receiving and detecting of interaction signals, such as realizing a real-time accurate positioning function of personnel in a virtual training laboratory based on UWB ultra-wideband positioning technology, providing wide area position information for multi-person cooperative training, the UWB personnel positioning system comprises a hardware positioning device, a positioning engine and application software, the positioning device comprises a plurality of UWB base stations and a certain number of UWB positioning tags, the positioning tags send UWB ultra-wideband signals to the positioning base stations through wireless pulses, and the positioning base stations are erected in areas where positioning services need to be provided to capture the UWB signals.
4. The electronic warfare equipment virtual training human-computer interaction system of claim 1, wherein the signal processing refers to analysis and processing of interaction signals, such as realizing real-time accurate positioning function of personnel in a virtual training laboratory based on UWB ultra-wideband positioning technology, after the interaction system receives and detects positioning signals, positioning base stations are linked and synchronized through a synchronization controller, the synchronization controller is connected to a server and is resolved by a positioning engine, and meanwhile, positioning data is output to upper application software, and various applications based on high-precision positioning are realized by upper application software.
5. The electronic warfare equipment virtual training human-computer interaction system of claim 1, wherein the command analysis is that the system translates and analyzes the received interactive electric signal, and analyzes the electric signal into an action command to accurately understand the intention and requirement of the user.
6. The human-computer interaction system for virtual training of electronic war equipment as claimed in claim 1, wherein the VR training system includes training contents for virtual cognition, operation, maintenance and application of electronic war equipment, the virtual training contents for electronic war equipment are many and are dynamically updated, the virtual training contents for electronic war equipment are divided into four large blocks for the convenience of organization and training implementation, the virtual cognitive training of equipment mainly aims at new trainees to perform basic theory of electronic war and cognitive training of equipment, and complete professional entry level training, the virtual operation training of equipment mainly aims at the trainees with knowledge having a certain basic of equipment theory to perform panel operation and whole machine operation of equipment, and the use function of equipment, the virtual maintenance training of equipment mainly aims at the trainees engaged in equipment protection to perform the training of equipment fault detection and fault elimination capability, the equipment virtual application training mainly comprises single set of equipment tactical application, multi-set equipment cooperative training and multi-level and multi-scale drilling training of large-scale combined operation.
7. The electronic warfare equipment virtual training human-computer interaction system of claim 1, wherein the VR training system further comprises a knowledge base, the knowledge base comprising an equipment knowledge base, an equipment model base, a training rule base, and a training scenario base.
8. The system of claim 1, wherein the workflow control is to manage the training content of the electronic warfare equipment and control the training process, the electronic warfare is a complex task system, which is composed of a plurality of subtasks, and is participated by a plurality of task team members, and the subtasks have information interaction, interdependence and mutual restriction relationship, and along with the virtual reality, the development of scientific visual computation and distributed computer simulation, electronic warfare training often needs to finish distributed interactive tasks in a cooperative or antagonistic mode under the environment of a local area network, a distributed multi-role cooperative system reasonably divides the tasks into relatively small subtasks which are easy to develop and organize and implement according to the concept of division and management, and a plurality of different task role members interactively cooperate to finish the whole task.
9. The electronic warfare equipment virtual training human-computer interaction system of claim 1, wherein the training content is generated in real time, which means that a virtual training scene is always dynamically updated and redrawn in real time as the viewing angle and the position of the user and the interaction behavior of the user constantly change.
10. An electronic warfare equipment virtual training human-computer interaction method, which is used for the electronic warfare equipment virtual training human-computer interaction system of claim 1, and comprises the following steps:
step 1, a VR training system firstly needs to model the appearances and functions of electronic warfare equipment of various types, and the establishment of an electronic warfare equipment simulation scene is completed;
step 2, the VR training system needs to model performance indexes of electronic warfare equipment of various types, and the electronic warfare equipment fighting function and the warfare technology index simulation are completed;
step 3, the VR training system also needs to model the landform, the weather, the hydrology and the like of the electronic warfare training field, so as to provide a vivid actual warfare training environment for training;
step 4, the VR training system also needs to model the electromagnetic environment, so as to provide an electronic countermeasure electromagnetic environment with configurable complexity for training;
step 5, the VR training system needs to dynamically update the contents of a training knowledge base and an equipment model base, and provides knowledge support for virtual training;
step 6, designing a training rule base and a training scene base by the VR training system to meet the requirements of different levels of training;
step 7, the participators wear VR hardware equipment such as VR helmets, VR data gloves and the like and participate in virtual training of electronic warfare equipment;
step 8, the participators send out various interactive instructions through VR interactive hardware by means of gestures, voice and various sensor strings, and intend to carry out cooperative training with other participators or interact with an external training environment;
step 9, the VR training system detects the interactive electric signal sent by the user, and performs signal receiving, signal detection, signal analysis and processing to form an interactive instruction which can be recognized, understood and executed;
and step 10, continuously updating and generating training contents dynamically in real time by the VR training system according to the interactive instructions of the personnel participating in training, and performing virtual training on the electronic warfare equipment.
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| CN112162639A (en) * | 2020-10-12 | 2021-01-01 | 上海大学 | Electronic warfare equipment simulation training man-machine interaction collaboration system |
| CN112230777A (en) * | 2020-10-29 | 2021-01-15 | 浙江工业大学 | Cognitive training system based on non-contact interaction |
| CN114322649A (en) * | 2021-06-17 | 2022-04-12 | 南京金盾公共安全技术研究院有限公司 | Intelligent actual combat training method |
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Application publication date: 20200515 |