CN113207103B - Soil erosion monitoring method and system - Google Patents
Soil erosion monitoring method and system Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 143
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000004162 soil erosion Methods 0.000 title claims abstract description 10
- 239000002689 soil Substances 0.000 claims abstract description 40
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 39
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- 238000004891 communication Methods 0.000 description 32
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- 230000035558 fertility Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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Abstract
The invention provides a soil erosion monitoring method on one hand, which comprises the following steps: s1, acquiring original monitoring data through a data acquisition system arranged in the monitoring area; s2, using edge computing equipment to perform data screening processing on the original monitoring data, eliminating wrong original monitoring data, and obtaining screened monitoring data; s3, transmitting the screened monitoring data to a cloud server; s4, analyzing the screened monitoring data stored in the cloud server, and judging whether a water and soil loss event occurs; and S5, when the water and soil loss event occurs, sending out an early warning prompt according to a preset early warning mode. On the other hand, the invention also provides a water and soil loss monitoring system for realizing the method. The invention is beneficial to acquiring the original monitoring data of the monitoring area at any time and finding out the water and soil loss event in time.
Description
Technical Field
The invention relates to the field of monitoring, in particular to a water and soil loss monitoring method and system.
Background
The water and soil loss refers to the damage and loss of water and soil resources and the productivity of the land under the action of external forces such as water power, gravity, wind power and the like, and comprises the erosion of the surface layer of the land and the water and soil loss, which are also called as water and soil loss. Serious water and soil loss can cause the reduction of the cultivated land area, the reduction of the soil fertility and the reduction of the crop yield. Therefore, close monitoring of soil erosion is required.
In the prior art, the monitoring of water and soil loss comprises the steps of monitoring water and soil loss by using satellite remote sensing and monitoring water and soil loss by manually and periodically measuring on the spot. However, the satellite remote sensing method is easily affected by factors such as the influence of atmospheric light and the size of a remote sensing lens on a satellite, and the monitoring result is not accurate enough. The situation of water and soil loss can not be known in time by means of manual measurement regularly, and obviously, the labor cost is very high if the manual measurement is intensively adopted.
Disclosure of Invention
In view of the above problems, the present invention provides a method and a system for monitoring soil erosion.
The invention provides a soil erosion monitoring method on one hand, which comprises the following steps:
s1, acquiring original monitoring data through a data acquisition system arranged in the monitoring area;
s2, using edge computing equipment to perform data screening processing on the original monitoring data, eliminating wrong original monitoring data, and obtaining screened monitoring data;
s3, transmitting the screened monitoring data to a cloud server;
s4, analyzing the screened monitoring data stored in the cloud server, and judging whether a water and soil loss event occurs;
and S5, when the water and soil loss event occurs, sending out an early warning prompt according to a preset early warning mode.
Preferably, the data acquisition system comprises a wireless sensor node and a transfer base station;
the wireless sensor node is used for acquiring original monitoring data of the position where the wireless sensor node is located and transmitting the original monitoring data to the transfer base station;
the transit base station is used for receiving monitoring data from wireless sensor nodes and transmitting the original monitoring data to the edge computing equipment.
Preferably, the wireless sensor nodes are divided into member nodes and cluster head nodes in a clustering manner;
the member nodes are used for acquiring original monitoring data of the positions of the member nodes and transmitting the original monitoring data to cluster head nodes of the clusters to which the member nodes belong;
the cluster head node is used for collecting original monitoring data of member nodes in the cluster and sending the original monitoring data to the transfer base station.
Preferably, the performing data screening processing on the raw monitoring data includes:
for a member node memNode, storing all other member nodes in a circular area with the memNode as the center and the radius of sr into a set neiNodeU;
original monitoring data origmdata acquired by memNode at time tt,memNodeJudging whether the data is wrong original monitoring data or not by the following method:
calculating origmdatat,memNodeThe contrast parameters cotpar of (1):
contpar＝|origmdatat,memNode-refmdatat|
in the formula, refmdatatFusion data representing the raw monitoring data collected by all member nodes in the neinodu at time t,
if contpar is greater than the preset contrast parameter threshold, origmdata is representedt,menNodeIf contpar is less than or equal to the preset contrast parameter threshold value, the origmdata is represented as the wrong original monitoring datat,menNodeIn order for the raw monitoring data to be correct,
wherein the neiode represents a member node contained in the neiNodeU, origmdatat,neinodeRepresenting the raw monitoring data acquired by the neiode at time t, dta (neiode, memNode) representing the spatial distance between the neiode and the memNode,
orit＝origmdatat,memNode-origmdatat,neinode
in the formula, nofu represents the total number of member nodes included in the neinodu.
Preferably, the relay base station is further configured to divide the wireless sensor node into a cluster head node and a member node, and specifically includes:
the relay base station broadcasts a clustering notice to the wireless sensor nodes;
after receiving the clustering notification, the wireless sensor node sends the clustering data of the wireless sensor node to a transfer base station;
the relay base station receives clustering data sent by all wireless sensor nodes;
the transfer base station divides the wireless sensor nodes into member nodes and cluster head nodes based on the clustering data to obtain clustering results;
and the relay base station broadcasts the clustering result to the wireless sensor node.
On the other hand, the invention also provides a water and soil loss monitoring system, which comprises a data acquisition module, a data screening module, a data sending module, a data analysis module and an early warning module;
the data acquisition module is used for acquiring original monitoring data through a data acquisition system arranged in a monitoring area;
the data screening module is used for screening the original monitoring data by using edge computing equipment, eliminating wrong original monitoring data and obtaining screened monitoring data;
the data sending module is used for transmitting the screened monitoring data to a cloud server;
the data analysis module is used for analyzing the screened monitoring data stored in the cloud server and judging whether a water and soil loss event occurs or not;
the early warning module is used for sending out early warning prompts according to a preset early warning mode when a water and soil loss event occurs.
Compared with the prior art, the invention has the advantages that:
according to the invention, the data acquisition system is arranged in the monitoring area to acquire the original monitoring data, and the original monitoring data is transmitted to the cloud server for storage and then analyzed to judge whether a water and soil loss event occurs, so that the method is beneficial to acquiring the original monitoring data of the monitoring area at any time and finding the water and soil loss event in time.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is a diagram of an exemplary embodiment of a soil erosion monitoring method according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In one aspect, the present invention provides a method for monitoring soil erosion, which includes:
s1, acquiring original monitoring data through a data acquisition system arranged in the monitoring area;
s2, using edge computing equipment to perform data screening processing on the original monitoring data, eliminating wrong original monitoring data, and obtaining screened monitoring data;
s3, transmitting the screened monitoring data to a cloud server;
s4, analyzing the screened monitoring data stored in the cloud server, and judging whether a water and soil loss event occurs;
and S5, when the water and soil loss event occurs, sending out an early warning prompt according to a preset early warning mode.
In one embodiment, the data acquisition system comprises a wireless sensor node and a transfer base station;
the wireless sensor node is used for acquiring original monitoring data of the position where the wireless sensor node is located and transmitting the original monitoring data to the transfer base station;
the transit base station is used for receiving monitoring data from wireless sensor nodes and transmitting the original monitoring data to the edge computing equipment.
The edge computing equipment can relieve the computing pressure of the cloud server, and data operation is released to the edge network, so that the computing efficiency of the cloud server is improved.
In one embodiment, the wireless sensor nodes are divided into member nodes and cluster head nodes in a clustering manner;
the member nodes are used for acquiring original monitoring data of the positions of the member nodes and transmitting the original monitoring data to cluster head nodes of the clusters to which the member nodes belong;
the cluster head node is used for collecting original monitoring data of member nodes in the cluster and sending the original monitoring data to the transfer base station.
In one embodiment, the performing the data filtering process on the raw monitoring data includes:
for a member node memNode, storing all other member nodes in a circular area with the memNode as the center and the radius of sr into a set neiNodeU;
original monitoring data origmdata acquired by memNode at time tt,memNodeJudging whether the data is wrong original monitoring data or not by the following method:
calculating origmdatat,memNodeThe contrast parameters cotpar of (1):
contpar＝|origmdatat,memNode-refmdatat|
in the formula, refmdatatFusion data representing the raw monitoring data collected by all member nodes in the neinodu at time t,
if contpar is greater than the preset contrast parameter threshold, origmdata is representedt,menNodeIf contpar is less than or equal to the preset contrast parameter threshold value, the origmdata is represented as the wrong original monitoring datat,menNodeIn order for the raw monitoring data to be correct,
wherein the neiode represents a member node contained in the neiNodeU, origmdatat,neinodeRepresenting the raw monitoring data acquired by the neiode at time t, dta (neiode, memNode) representing the spatial distance between the neiode and the memNode,
orit＝origmdatat,memNode-origmdatat,neinode
in the formula, nofu represents the total number of member nodes included in the neinodu.
In the prior art, whether a piece of data is error data is determined, and generally, the data is only compared with a fixed numerical value, and then whether the data is error data is determined. However, such an arrangement is relatively poor in adaptivity and is prone to erroneous judgment, for example, when a certain region is monitored and the value of data acquired in the region is relatively large, the data is often erroneously judged as erroneous data, and this judgment method ignores the entire situation, and thus makes erroneous judgment on normal monitoring data. According to the method and the device, the fusion data of the original monitoring data acquired by the member nodes and the original monitoring data acquired by other member nodes in the communication range of the member nodes are calculated to obtain the comparison parameters, then the comparison parameters are compared with the comparison parameter threshold value to judge whether the original monitoring data are wrong data, the setting mode fully considers the relation between the original monitoring data acquired by the currently judged member nodes and the original monitoring data acquired by other member nodes in the communication range, and the problems existing in the existing judging mode can be well avoided. In addition, when the fusion data is calculated, the importance degree relation between the currently judged member node and other member nodes in the communication range of the currently judged member node is considered in the aspects of spatial distance, original monitoring data and the like, and the closer the currently judged member node is, the smaller the difference between the collected original monitoring data and the collected original monitoring data of the currently judged member node is, the higher the importance degree is, and the greater the contribution to the fusion data is. Therefore, the method is beneficial to obtaining an accurate fusion parameter to judge the original monitoring data collected by the memNode, and effectively improves the judging accuracy, thereby improving the accuracy of monitoring the water and soil loss.
In an embodiment, the relay base station is further configured to divide the wireless sensor node into a cluster head node and a member node, and specifically includes:
the relay base station broadcasts a clustering notice to the wireless sensor nodes;
after receiving the clustering notification, the wireless sensor node sends the clustering data of the wireless sensor node to a transfer base station;
the relay base station receives clustering data sent by all wireless sensor nodes;
the transfer base station divides the wireless sensor nodes into member nodes and cluster head nodes based on the clustering data to obtain clustering results;
and the relay base station broadcasts the clustering result to the wireless sensor node.
The clustering result is a list of cluster head nodes, after the wireless sensor node receives the clustering result, the wireless sensor node can know whether the wireless sensor node is a cluster head node or a member node, the member node calculates the distance between the wireless sensor node and each cluster head node, selects the cluster head node corresponding to the minimum distance as a transmission target of original monitoring data, sends a message to the cluster head node, and adds the message to the cluster to which the cluster head node belongs.
In one embodiment, the dividing the wireless sensor nodes into member nodes and cluster head nodes based on the clustering data includes:
dividing nuMbs circular ring areas by taking the transit base station as a circle center; the ring widths of all the circular rings are equal;
for a numbs circular ring area, storing all wireless sensor nodes in the circular ring area into an aggregate torregUnumbs；
torregU is set forth in the following mannernumbsThe wireless sensor nodes contained in the method are divided into cluster head nodes and member nodes:
the first calculation is as follows:
respectively calculate torregUnumbsThe energy efficiency index of each sensor node;
marking the wireless sensor node with the highest energy efficiency index as the nodemaefiWill torregUnumbsIs in nodemaefiAll within the maximum communication range ofWireless sensor node slave set torregUnumbsDeleting to obtain the collection torregUnumbs，2A node is preparedmaefiCluster head set clusthU is storednumbs，clusthUnumbsA set of cluster head nodes representing a numbs circle region;
judging torregUnumbs，2If the current data is not the empty set, finishing the calculation, and if not, performing the next calculation;
and (3) calculating for the second time:
respectively calculate torregUnumbs，2The energy efficiency index of each sensor node;
marking the wireless sensor node with the highest energy efficiency index as the nodemaefi,2Will torregUnumbs，2Is in nodemaefi,2All wireless sensor nodes within the maximum communication range of (2) are grouped from the node setmaefi,2Deleting to obtain the collection torregUnumbs，3A node is preparedmaefi,2Cluster head set clusthU is storednumbs；
Judging torregUnumbs，3If the current data is not the empty set, finishing the calculation, and if not, performing the next calculation;
and by analogy, the nth calculation:
respectively calculate torregUnumbs，nThe energy efficiency index of each sensor node;
marking the wireless sensor node with the highest energy efficiency index as the nodemaefi,nWill torregUnumbs，nIs in nodemaefi,nFrom the set torregU, all wireless sensor nodes within the maximum communication range ofnumbs，nDeleting to obtain the collection torregUnumbs，n+1A node is preparedmaefi,nCluster head set clusthU is storednumbs；
Judging torregUnumbs，n+1If the current data is not the empty set, finishing the calculation, and if not, performing the next calculation;
respectively calculating a set of cluster head nodes of each circular ring area, thereby obtaining all cluster head nodes; and taking the rest wireless sensor nodes as member nodes.
In one embodiment, the energy efficiency index is calculated by the following formula:
in the formula, eefidxnodekRepresenting an energy efficiency index of a wireless sensor node nodek, nofrU representing the number of wireless sensor nodes within a communication range of nodek, Enerlef representing a current remaining energy of nodek, longtobs representing a communication delay index between nodek and a relay base station, nodek representing a set of wireless sensor nodes with nodek within a communication range of nodek, neid representing a wireless sensor node included in nodek, distance (nodek, neid) representing a spatial distance between nodek and neid, selefunnnodekThe control function is represented by a control function,
averu represents the mean value of the number of communication ranges,
numTotal represents the total number of wireless sensor nodes in the monitored area, nofrUjTable total number of other wireless sensor nodes contained within the communication range of the jth wireless sensor node.
The existing clustering mode generally adopts a mode of randomly selecting cluster head nodes to complete clustering, such as a leach clustering algorithm. However, the cluster mode easily causes unreasonable distribution of cluster heads, for example, in a place where member nodes are dense, too few cluster head nodes cause too much pressure on the cluster head nodes, too fast energy consumption and severely shortened working life, thereby affecting coverage rate of monitoring a monitoring area. According to the clustering mode, the wireless sensor nodes in the monitoring area are firstly partitioned into different circles through the division of the circles, and then the cluster head nodes in each circle are respectively obtained, so that the condition that the cluster head nodes are not uniformly distributed can be effectively avoided. In addition, when the energy efficiency index is calculated, the distance between the wireless sensor node and the relay base station, the residual energy of the wireless sensor node, the communication speed index between the wireless sensor node and the relay base station, the total number of other wireless sensor nodes in the communication range of the wireless sensor node and the distance distribution between the wireless sensor node and other wireless sensor nodes in the communication range of the wireless sensor node are fully considered, and therefore the energy efficiency index is comprehensively obtained. The wireless sensor nodes with large residual energy, short distance with the transfer base station, small communication time delay index and short distance with other wireless sensor nodes in the communication range are used as cluster head nodes, and in addition, when the energy efficiency index is calculated, a control function is also set, so that the conditions that the number of member nodes needing to be charged by a single cluster head node is too large, the data processing pressure is too large, and the continuous working time is too short are avoided. When the nofrU is less than or equal to averu, the number of the wireless sensor nodes in the communication range of the nodek is smaller than the average number averu, so that the energy efficiency index of the nodek is effectively increased by the control function, and when the nofrU is greater than the averu, the energy efficiency index of the nodek is effectively decreased by the control function, so that a more reasonable cluster head node is obtained, and the data processing pressure of a single cluster head node is avoided being too high. The method is favorable for prolonging the average service life of the wireless sensor node.
In one embodiment, the cluster head node transmits the original monitoring data to the relay base station by:
for the cluster head node cluster, judging whether the transfer base station is in the communication range of the cluster head node cluster;
if so, the cluster uses a single-hop communication mode to communicate with the transfer base station, and transmits the original monitoring data to the transfer base station;
if not, selecting a transit node from other cluster head nodes within the communication radius of the transit node by the cluster, and transmitting the original monitoring data to the transit node;
selecting a transfer node by the following method:
storing other cluster head nodes within the communication radius of cluster into the set jmpUclustd；
Calculating clustd and jmpUclustdCommunication loss of each cluster head node:
in the formula, cumcstjmpuExpress calculation clustd and jmpUclustdCommunication loss, dtbs, between cluster head nodes jmpu included in (1)jmpuRepresents the average number of communication hops between jmpu and the relay base station, distance (justd) represents the communication distance between jmpu and clustd, and nofneiUjmpuIndicates the total number of other cluster head nodes, Eleft, within the communication radius of jmpujmpuRepresenting the residual capacity of jmpu, cwkt representing the continuous working time of cluster, and zt representing the time interval between two adjacent clusters;
from jmpUclustdAnd selecting the cluster head node with the minimum communication loss as a transfer node.
When the distance between the cluster head node and the relay base station is too large, only a multi-hop method can be selected to communicate with the relay base station, and in the selection of the relay node, the embodiment of the invention performs selection by calculating the communication loss. When the cwkt is less than 0.8zt, the cluster head node transit nodes which are close to the transit base station, close to clustd, small in the number of cluster head nodes in the communication radius and capable of carrying out high-efficiency data transmission are selected through a communication loss formula, when the cwkt is more than or equal to 0.8zt, the next round of clustering is about to come, therefore, the setting of the formula is mainly characterized by prolonging the working life, the parameter of the residual electric quantity is added into the formula, and the cluster head nodes with more residual electric quantity on the original basis are selected as the transit nodes. The arrangement mode avoids better self-adaptability, and balance can be obtained between transmission efficiency and service life. Therefore, the data transmission efficiency of the invention can be improved as much as possible while the working life is considered.
In one embodiment, the communication delay index is calculated by:
longtobs＝avejmptnodek×dis(nodek)
in the formula, avejmptnodekRepresents the average number of communication hops between nodeb and said relay base station, and dis (nodeb) represents the spatial distance between nodeb and said relay base station.
In one embodiment, the raw monitoring data includes soil moisture content, soil infiltration capacity.
If the time for collecting the original monitoring data is rainy days, the original monitoring data also comprises the silt content. The silt content can be obtained by a silt sensor arranged in the water collector. The water collector is used for intercepting runoff on the surface of soil during raining, so that the sediment content in the runoff can be obtained.
In one embodiment, the edge computing device comprises an edge computer. Such as the huacheng AR502H series edge computer.
In one embodiment, the analyzing the filtered monitoring data stored in the cloud server to determine whether a soil erosion event occurs includes:
and judging whether the monitoring data is larger than a corresponding data threshold value, if so, indicating that a water and soil loss event occurs.
For example, when the sediment content is far larger than the sediment content threshold value, the water and soil loss event is judged to occur at the member node for collecting the sediment content.
In an embodiment, the sending out the warning prompt according to a preset warning manner includes:
and sending early warning information to related workers in a pop-up window mode, wherein the early warning information comprises the occurrence event of the water and soil loss event and the occurrence position of the water and soil loss event.
On the other hand, the invention also provides a water and soil loss monitoring system, which comprises a data acquisition module, a data screening module, a data sending module, a data analysis module and an early warning module;
the data acquisition module is used for acquiring original monitoring data through a data acquisition system arranged in a monitoring area;
the data screening module is used for screening the original monitoring data by using edge computing equipment, eliminating wrong original monitoring data and obtaining screened monitoring data;
the data sending module is used for transmitting the screened monitoring data to a cloud server;
the data analysis module is used for analyzing the screened monitoring data stored in the cloud server and judging whether a water and soil loss event occurs or not;
the early warning module is used for sending out early warning prompts according to a preset early warning mode when a water and soil loss event occurs.
It should be noted that, the system is used for implementing the functions of the method, and each module in the apparatus corresponds to the steps of the method, and can implement different embodiments of the method.
While embodiments of the invention have been shown and described, it will be understood by those skilled in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (3)
1. A soil erosion monitoring method is characterized by comprising the following steps:
s1, acquiring original monitoring data through a data acquisition system arranged in the monitoring area;
s2, using edge computing equipment to perform data screening processing on the original monitoring data, eliminating wrong original monitoring data, and obtaining screened monitoring data;
s3, transmitting the screened monitoring data to a cloud server;
s4, analyzing the screened monitoring data stored in the cloud server, and judging whether a water and soil loss event occurs;
s5, when a water and soil loss event occurs, sending out an early warning prompt according to a preset early warning mode;
the data acquisition system comprises a wireless sensor node and a transfer base station;
the wireless sensor node is used for acquiring original monitoring data of the position where the wireless sensor node is located and transmitting the original monitoring data to the transfer base station;
the transit base station is used for receiving monitoring data from a wireless sensor node and transmitting the original monitoring data to the edge computing equipment;
the wireless sensor nodes are divided into member nodes and cluster head nodes in a clustering mode;
the member nodes are used for acquiring original monitoring data of the positions of the member nodes and transmitting the original monitoring data to cluster head nodes of the clusters to which the member nodes belong;
the cluster head node is used for collecting original monitoring data of member nodes in a cluster and sending the original monitoring data to the transfer base station;
the data screening processing of the original monitoring data comprises:
for a member node memNode, storing all other member nodes in a circular area with the memNode as the center and the radius of sr into a set neiNodeU;
original monitoring data origmdata acquired by memNode at time tt,memNodeJudging whether the data is wrong original monitoring data or not by the following method:
calculating origmdatat,memNodeThe contrast parameters cotpar of (1):
contpar＝|origmdatat,memNode-refmdatat|
in the formula, refmdatatFusion data representing the raw monitoring data collected by all member nodes in the neinodu at time t,
if contpar is greater than the preset contrast parameter threshold, origmdata is representedt,menNodeIf contpar is less than or equal to the preset contrast parameter threshold value, the origmdata is represented as the wrong original monitoring datat,menNodeIn order for the raw monitoring data to be correct,
wherein the neiode represents a member node contained in the neiNodeU, origmdatat,neinodeRepresenting the raw monitoring data acquired by the neiode at time t, dta (neiode, memNode) representing the spatial distance between the neiode and the memNode,
orit＝origmdatat,memNode-origmdatat,neinode
in the formula, nofu represents the total number of member nodes included in the neinodu.
2. The method according to claim 1, wherein the relay base station is further configured to divide the wireless sensor nodes into cluster head nodes and member nodes, and specifically includes:
the relay base station broadcasts a clustering notice to the wireless sensor nodes;
after receiving the clustering notification, the wireless sensor node sends the clustering data of the wireless sensor node to a transfer base station;
the relay base station receives clustering data sent by all wireless sensor nodes;
the transfer base station divides the wireless sensor nodes into member nodes and cluster head nodes based on the clustering data to obtain clustering results;
and the relay base station broadcasts the clustering result to the wireless sensor node.
3. A water and soil loss monitoring system is characterized by comprising a data acquisition module, a data screening module, a data sending module, a data analysis module and an early warning module;
the data acquisition module is used for acquiring original monitoring data through a data acquisition system arranged in a monitoring area;
the data screening module is used for screening the original monitoring data by using edge computing equipment, eliminating wrong original monitoring data and obtaining screened monitoring data;
the data sending module is used for transmitting the screened monitoring data to a cloud server;
the data analysis module is used for analyzing the screened monitoring data stored in the cloud server and judging whether a water and soil loss event occurs or not;
the early warning module is used for sending out early warning prompts according to a preset early warning mode when a water and soil loss event occurs.
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