CN113341230A - Automatic testing system and method for multi-port cable of spacecraft - Google Patents
Automatic testing system and method for multi-port cable of spacecraft Download PDFInfo
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Abstract
The invention relates to a system and a method for automatically testing a multi-port cable of a spacecraft, wherein the system comprises measurement software and a bottom controller, and the measurement software is connected with the bottom controller through a communication interface; the bottom layer controller comprises a constant current source unit, a constant voltage source unit, a data acquisition unit, a relay switching matrix, an on-resistance test unit, a line-to-line capacitance test unit and an insulation resistance test unit, and the measurement of various parameters of the cable is completed through each module; the measurement software mainly comprises a parameter configuration module, a conduction test module, an insulation test module, a self-learning module, a manual test module and a result comparison module. The system can automatically measure the electrical properties of cables of various models, such as on-resistance, insulation resistance, distributed capacitance and the like, can timely and quickly detect equipment cable faults, realizes automation and intellectualization of cable detection, ensures the high efficiency and reliability of cable detection, and provides effective guarantee for spacecraft development.
Description
Technical Field
The invention belongs to the technical field of electrical testing, and particularly relates to an automatic testing system and method for a multi-port cable of a spacecraft.
Background
With the continuous development of spacecraft technology and the continuous deepening of industrialization, the functions of a spacecraft system become complex day by day, and the reliability requirement is continuously improved; the development time of the spacecraft is gradually shortened, and the development process is more efficient. Based on the current situation, in the aspect of spacecraft cable testing, the traditional cable testing method cannot meet the requirements of high efficiency and reliability in the development process. Therefore, the invention provides a design method of an automatic test system of a multi-port cable, and introduces the structure of the automatic test system of the multi-port cable of a spacecraft from the aspects of general thought, composition of a bottom controller, software architecture and the like.
The spacecraft cable mainly comprises a low-frequency cable, a radio-frequency cable, an LVDS cable and the like, wherein the low-frequency cable is mainly used for transmitting electric energy, controlling signals and telemetering signals and is usually a multi-core cable, and the system is mainly designed for testing the low-frequency cable.
The spacecraft cable is generally tested after being processed, and the correctness of cable development is mainly verified. In other stages, the cable test requirements of the spacecraft test system are more, and the corresponding cables need to be tested before the cables are used, after the test is transferred, before a large-scale test is started and before the launch field test is carried out.
The performance test of the spacecraft cable is mainly divided into the on-resistance test, the insulation resistance test, the distributed capacitance test and the like of the cable. The conduction test is used for verifying the corresponding relation among the power supply access, the signal transmission channel and the control loop and ensuring the correctness of the access by measuring the resistance value of the access; the insulation test is used for verifying the insulation capability of the cable under transient high voltage generated by equipment failure (overvoltage); the distributed capacitance test is mainly used for evaluating whether the interference between the cable conductors meets the requirements.
Spacecraft cable testing has several difficulties: firstly, the number of cables of the spacecraft is large, the form of a connector is complex, and the workload is huge if the test of the cable of the whole model is to be completed; secondly, the number of subsystems and equipment of the spacecraft system is large, the interface content is complex, in order to simplify the cable network structure, the spacecraft cable is usually designed into a multi-branch tree structure, and the complex cable structure provides higher requirements for the cable automatic test system; thirdly, the complexity of the spacecraft cable is also embodied in the design of multiple parallel points (the reason of the design of the multiple parallel points is that (the) is used as a backup to ensure the reliability of important signals, and (the) is used for reducing the conduction impedance and realizing the power expansion), the insulation test voltage is usually higher than or equal to 250V, and in order to prevent the damage to the cable caused by the test, the parallel points should be firstly eliminated before the insulation test of the cable, which also puts higher requirements on an automatic test system of the cable.
The traditional spacecraft cable test method is mainly manual test. The manual cable test requires two-person operation, and the digital multimeter, the insulation resistance meter and the corresponding test tool are used for testing the cable according to the cable contact meter.
The defects of the traditional manual cable testing method mainly comprise the following points:
1) the efficiency is low: the tester is required to frequently change lines and read, and the testing efficiency is low. Taking the example of manually testing an N-core single-end-to-single-end cable, the conduction test is required N times, and the insulation test N ═ N + (N-1) + (N-2) + … … + [ N- (N-1) ] times.
2) Reliability and safety are poor: in the test process, the test missing and the test error of the contact can be caused by negligence of a tester, and the reliability can not be ensured. The insulation resistance meter is a high-voltage test of more than 250V, and the cable and even testing personnel are easily damaged by improper operation.
3) The results are compared and the traceability is poor: in the manual test process, the test result cannot be recorded, the test result of each time cannot be compared and checked back, and the traceability is poor.
4) The testing difficulty of the multi-port cable is large: for a multi-port cable, for example, for a cable with n branches, n sets of tools are required to be unfolded, the test complexity is increased, for multi-core and special connector type cables, a common test tool cannot be unfolded, and the testability of the multi-port cable is reduced.
Therefore, the research and development of a novel automatic test system and method for the multi-port cable of the spacecraft are significant.
Disclosure of Invention
In order to solve the problem of testing a multi-port complex cable and make up the defects of the traditional cable testing method, the invention provides an automatic testing system and method for a spacecraft multi-port cable.
The technical problem to be solved by the invention is realized by the following technical scheme:
an automatic test system for spacecraft multiport cables, comprising: the system comprises measurement software and a bottom controller, wherein the measurement software is connected with the bottom controller through a communication interface;
the bottom layer controller comprises a constant current source unit, a constant voltage source unit, a data acquisition unit, a relay switching matrix, an on-resistance test unit, a line-to-line capacitance test unit and an insulation resistance test unit;
the constant current source unit is connected with the on-resistance testing unit;
the constant voltage source unit is connected with the insulation resistance testing unit;
the data acquisition unit is respectively connected with the conduction resistance test unit, the line-to-line capacitance test unit and the insulation resistance test unit;
the relay switching matrix is respectively connected with the on-resistance testing unit, the line-to-line capacitance testing unit and the insulation resistance testing unit;
and each module of the bottom layer controller completes measurement of various parameters of the cable.
Furthermore, the measurement software mainly comprises a parameter configuration module, a conduction test module, an insulation test module, a self-learning module, a manual test module and a result comparison module.
Further, the parameter configuration module is configured to perform user configuration of two types of data: the first type of data is parameter setting aiming at different test requirements and is used in the test; the second kind of data is the setting of the saved path parameters, and is used for setting the default address saved by each item of test result.
Furthermore, the conduction test module is used for conducting conduction test on the cable, the insulation test module is used for conducting insulation test on the cable, and the test processes of the conduction test module and the insulation test module respectively comprise importing of a node table, port selection, testing and storage.
Further, the self-learning test module is used for detecting the connection relation of the nodes inside the cable, and the self-learning result can be generated into input files for conducting test and insulation test for subsequent test of the connected cable.
Furthermore, the manual test module is used for independently testing the nodes concerned by the user, and can respectively complete the conduction test and the insulation test of the concerned nodes.
Furthermore, in the automatic test system for the multi-port cable of the spacecraft, a self-learning result, a conduction test result, an insulation test result and a distributed capacitance test result are stored according to the setting of a file storage path, and the result comparison module mainly compares the results generated by the tests.
Furthermore, according to the automatic test system for the multi-port cable of the spacecraft, after the tested cable is connected, the test software sends a self-learning instruction to the self-learning test module according to the connected test port, the bottom controller identifies the conduction relations among all the nodes of the cable connected to the host of the system at present and then returns the conduction relations to the test software, the self-learning test module identifies all the connection relations of the complex cable to form a result file, and the content of the file comprises the corresponding relation between the initial end node and the terminal end node of the cable, a short-circuit node, an initial end port of the cable, a terminal end port and a short-circuit node port.
Further, the self-learning test module is implemented in the bottom-layer controller by using a binary tree algorithm.
The automatic test method of the multi-port cable of the spacecraft uses the automatic test system of the multi-port cable of the spacecraft to carry out measurement.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic test system for the multiport cable of the spacecraft can automatically measure the electrical properties of cables of various types, such as on-resistance, insulation resistance, distributed capacitance and the like, can timely and quickly detect equipment cable faults, effectively solves the problems of low efficiency, low reliability and high difficulty in detecting the multiport cable in the conventional cable detection, realizes the automation and intellectualization of cable detection, ensures the high efficiency and reliability of cable detection, and provides effective guarantee for the development of the spacecraft.
2. The automatic test method for the multi-port cable of the spacecraft has the advantages of high detection speed, strong universality, high intelligent degree, high reliability, accurate detection data and the like, can be used for multi-port cable detection, can timely store and print detection results, can compare the results, is convenient for data review, and is convenient for detection personnel to operate and visually display the cable test results.
Drawings
FIG. 1 is a connection diagram of an automatic testing system for multi-port cables of a spacecraft.
FIG. 2 is a component diagram of an automatic testing system for multi-port cables of a spacecraft.
Fig. 3 is a functional block diagram of system software.
FIG. 4 is a schematic diagram of the on-resistance measurement matrix switching design.
FIG. 5 is a schematic diagram of the insulation resistance measurement matrix switching design.
Fig. 6 is a measurement timing chart.
Fig. 7 is a diagram of a process for implementing the binary tree algorithm.
FIG. 8 is a binary tree algorithm flow diagram.
FIG. 9 is a flow chart of the method for automatically testing the multi-port cable of the spacecraft for testing the multi-port cable.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
Example 1:
in order to solve the problem of testing a multi-port complex cable and make up for the defects of the traditional cable testing method, the embodiment designs an automatic testing system for the multi-port cable of the spacecraft. This spacecraft multiport cable automatic test system includes: the device comprises measurement software and a bottom controller, wherein the measurement software is connected with the bottom controller through a communication interface. The measurement software of the embodiment is intelligent operation software designed by using LabVIEW, and can be directly operated in a computer with a LabVIEW operation environment. The connection relationship of the automatic testing system for the multi-port cable of the spacecraft of the embodiment refers to the attached drawing 1.
The bottom layer controller of the embodiment comprises a constant current source unit, a constant voltage source unit, a data acquisition unit, a relay switching matrix, an on-resistance test unit, a line-to-line capacitance test unit and an insulation resistance test unit; the constant current source unit is connected with the on-resistance testing unit; the constant voltage source unit is connected with the insulation resistance testing unit; the data acquisition unit is respectively connected with the conduction resistance test unit, the line-to-line capacitance test unit and the insulation resistance test unit; the relay switching matrix is respectively connected with the on-resistance testing unit, the line-to-line capacitance testing unit and the insulation resistance testing unit; and each module of the bottom layer controller completes measurement of various parameters of the cable. The component diagram of the automatic testing system for the multi-port cable of the spacecraft of the embodiment refers to the attached figure 2.
The conduction test is mainly completed by the constant current source module and the conduction resistance test unit. The conduction test adopts a four-wire resistance measurement principle, and avoids measurement errors introduced by a measurement circuit and a matrix switch to the greatest extent. The insulation test is mainly completed by a constant voltage source module and an insulation resistance test unit. The insulation resistance test adopts a direct current amplification method. The capacitance measurement is performed by using a digital bridge.
The main control unit measures the circuit by driving the data acquisition unit and the relay switching matrix, communicates with the test host through the network port, receives a control instruction of the test host and returns test data and states to the upper computer.
Because the system of the embodiment adopts the generalized, serialized and modularized structure, the system can be used for cable detection with more ports after expansion and upgrade. The integration degree is high, and the carrying is convenient.
The measurement software based on the LabVIEW platform is connected with a lower computer of the test system through a communication interface, and can send user commands, receive return data, set measurement parameters and the like. The system software mainly comprises six functional modules which are respectively as follows: the device comprises a parameter configuration module, a conduction test module, an insulation test module, a self-learning module, a manual test module and a result comparison module. And the six functional modules are respectively designed into a sub VI mode, and the test process is realized by calling the sub VI by the main program. Functional blocks of the system software refer to fig. 3.
The software main program is a function selection interface, and specific modules are selected for testing according to specific testing requirements. The parameter configuration module is used for carrying out user configuration of two types of data: the first type of data is parameter setting aiming at different test requirements and is used in the test; the second kind of data is the setting of the saved path parameters, and is used for setting the default address saved by each item of test result.
The conduction testing module is used for conducting conduction testing on the cable, the insulation testing module is used for conducting insulation testing on the cable, and the testing processes of the conduction testing module and the insulation testing module comprise leading-in of a node table, port selection, testing and storage. The self-learning test module is used for detecting the connection relation of the nodes in the cable, and the self-learning result can be generated into input files for conducting test and insulation test for subsequent test of the connected cable. The manual test module is used for independently testing the nodes concerned by the user and can respectively complete the conduction test and the insulation test of the concerned nodes. The self-learning result, the conduction test result, the insulation test result and the distributed capacitance test result are stored according to the setting of a file storage path, and the result comparison module is mainly used for comparing the results generated by the tests.
The system mainly utilizes a relay switching matrix to realize the rapid automatic test of the multi-core cable, greatly improves the test efficiency on the basis of ensuring the reliability, and the matrix switching circuit is controlled by serial data output by a single chip microcomputer.
Taking the test of the on-resistance of the cable core between the 6 th nodes of the two connectors of a certain cable branch 1 and a certain cable branch 3 as an example, as shown in fig. 4, one end of the cable core is connected to the high end of the constant current source through two relays, and the other end of the cable core is connected to the low end of the constant current source through two relays. When the 4 relays are all closed, a current path is formed, and constant current output by the current source flows through the core wire to be tested to generate a certain voltage drop. The measuring signal loop in the four-wire method should be separated from the main loop, so two signal acquisition paths are designed at two ends of the core wire of the tested cable, and the two ends of the core wire are respectively connected to the high end of signal acquisition and the low end of signal acquisition through two relays. When the relays are all closed, another loop is formed, the voltage drop on the core wire is applied to the input end of the amplifier, and the amplifier is conditioned, amplified and then connected to the AD acquisition module. And after data acquisition, uploading the measured data to the control unit. The testing principle of the above process is shown in fig. 4.
Take the insulation resistance between the 6 th node of branch 1 and branch 3 as an example: one end of the sixth core wire is connected to the high end of a high-voltage source through a relay, so that the overall potential of the core wire is increased to a set voltage value; the other cores of the branch 3 are connected to the low end of the high voltage source through the corresponding relay via the standard resistor, and then the other cores are low potential as a whole. As described in the measurement principle, weak leakage current is generated between the tested core wire and other core wires, and the insulation resistance value can be calculated by collecting the voltage drop on the standard resistor. The insulation resistance measurement matrix switching design principle is shown in fig. 5.
The system pair on-resistance and insulation test time is mainly related to the switching time (rising time and falling time) of the relay, the stable time of signal loading, the measurement time and the like, as shown in fig. 6.
In fig. 6, the rise time and fall time are primarily related to the switching time of the relay. The typical opening time of the optocoupler relay selected by the system is 0.2ms, and the maximum opening time is 1 ms; typical off-times are 0.03ms and maximum off-times are 1 ms. The stable time refers to the stable time of the electric field establishment after the cable network is loaded with the constant current source (when the constant voltage source is loaded to measure the insulation resistance, the time of the electric field establishment mainly relates to various factors such as the material and the length of the cable). Typically up to 10 ms. The measurement time refers to AD conversion and reading time. The conversion and reading time of the AD chip selected by the system is in the order of tens of micro-scale, 50 points are sampled at one time, and the time consumption is 5 ms. Consider the other unforeseen time of 3 ms. The maximum time to make one on-resistance measurement is thus calculated: 1+1+10+5+3 equals 20 (ms). According to the actual use condition of the equipment, the testing speed is far higher than 0.02 s/point. The insulation test speed is related to test voltage, cable length and other factors, and in order to ensure the test reliability, the test speed can be flexibly set and is different from 0.02 s/point to 256 s/point, so that the test accuracy is ensured.
From the above analysis, it can be seen that: the system has the testing speed far higher than the manual testing speed, and effectively improves the testing efficiency.
The automatic test system for the multi-port cable of the spacecraft can realize the quick detection of the universal cable by utilizing the universal test file and the universal tool. The testing of the multi-branch multi-parallel complex cable mainly depends on the combination of system software and hardware, after the tested cable is connected, the testing software sends a self-learning instruction to a self-learning testing module according to an connected testing port, a bottom layer controller identifies the conduction relations among all the nodes of the cable connected to a current system host and then returns the conduction relations to the testing software, the self-learning testing module identifies all the connection relations of the complex cable to form a result file, and the content of the file comprises the corresponding relation between a cable initial end node and a terminal end node, a short-circuit node, a cable initial end port, a terminal end port and a short-circuit node port.
The self-learning test module is implemented in the underlying controller by using a binary tree algorithm. All nodes are quickly traversed. Taking test branch one (62 core) and branch two (62 core) as an example, the conduction relationship between branch one node 1 and branch two is tested first. And a node 1 of the first branch is connected with the positive end of the constant current source, and a core 1-62 of the second branch is connected with the negative end of the constant current source after being short-circuited, and the power-on test is carried out, so that the resistance value is greater than the threshold value, and the condition that the first branch and the second branch have no conduction relation is proved and abandoned. If the resistance value is smaller than the threshold value, the test is continued, the node 1 of the branch one is connected with the positive end of the constant current source, the core of the branch two 1-31 is connected with the negative end of the constant current source after short circuit, if the test resistance value is larger than the threshold value, the test is abandoned, if the test resistance value is smaller than the threshold value, the test is continued according to the method until a conducting point is found, and the method is similarly adopted for the cores 31-62. The implementation of the binary tree algorithm is shown in fig. 7.
With the binary tree algorithm, only one test is needed to determine that the two branches have no conduction relationship, and 13 tests are needed to determine that the conduction of some two nodes of the two branches is slowest, as shown in fig. 8, if the binary tree algorithm is not used, 62 tests are needed to test each node. The self-learning time is greatly shortened by using the binary tree algorithm.
After the self-learning is finished, the upper computer software analyzes and processes the self-learning result and then conducts and insulates test as a test file. Before the conduction test, software analyzes and removes parallel points from the self-learning result to form a conduction test file, and sends a conduction test instruction to a conduction path in the self-learning result. And the bottom layer controller tests according to the test file nodes and stores the test result. And (4) testing the single end of the cable only in the insulation test, analyzing the self-learning result by software before the test, only keeping the initial end node, and removing the parallel points to form an insulation test file. And the bottom layer controller tests according to the test file nodes and stores the test result.
The self-learning result, the conduction test result, the insulation test result and the distributed capacitance test result of the system test are stored according to the setting of the file storage path, so that data review in subsequent use is facilitated, and the test result can be traced.
On the basis of storing the test result, the system realizes the function of comparing the test result. The result comparison function is mainly realized by test software and mainly completed by table analysis of the result, the comparison function is mainly used for comparing the difference of cable connection relations displayed between two tables, and the comparison function is divided into three functions: comparing self-learning results, comparing conduction results and comparing insulation results.
And the self-learning result comparison is to import the design file into the test system to compare with the self-learning result, and the software compares the design file with the self-learning result one by one according to the table contents and marks the non-conforming result. The correctness of the cable design can be verified through comparison with the self-learning result, and whether each parameter of the cable meets the standard requirement is checked on the basis of ensuring the correctness of the cable design.
The comparison method of the conduction test result and the insulation test result is the same as the comparison process of the self-learning result, and the change of each parameter in the use process of the cable is tracked by comparing the result files every time, so that the aging state of the cable can be mastered.
Example 2:
the embodiment provides an automatic testing method for a spacecraft multiport cable, which uses the automatic testing system for the spacecraft multiport cable in embodiment 1.
The testing process of the method for automatically testing the multi-port cable of the spacecraft according to the embodiment on the multi-port cable is shown in fig. 9.
The automatic test method for the multi-port cable of the spacecraft has the following advantages: the detection speed is high, and the method is suitable for the rapid detection of the test cable; the universality is strong, and the device can be used for testing various universal cables; the intelligent degree is high, and the method can be used for detecting various complex cables; the reliability is high, and the detection data is accurate; the system can be used for multi-port cable detection after expansion and upgrade; the detection result can be stored and printed in time, the result comparison can be carried out, and the data review is convenient; the man-machine interaction is good, the operation of detection personnel is convenient, and the cable test result is visually displayed.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. An automatic test system for a spacecraft multiport cable, comprising: the system comprises measurement software and a bottom controller, wherein the measurement software is connected with the bottom controller through a communication interface;
the bottom layer controller comprises a constant current source unit, a constant voltage source unit, a data acquisition unit, a relay switching matrix, an on-resistance test unit, a line-to-line capacitance test unit and an insulation resistance test unit;
the constant current source unit is connected with the on-resistance testing unit;
the constant voltage source unit is connected with the insulation resistance testing unit;
the data acquisition unit is respectively connected with the conduction resistance test unit, the line-to-line capacitance test unit and the insulation resistance test unit;
the relay switching matrix is respectively connected with the on-resistance testing unit, the line-to-line capacitance testing unit and the insulation resistance testing unit;
and each module of the bottom layer controller completes measurement of various parameters of the cable.
2. The automatic test system of a spacecraft multiport cable of claim 1, wherein the measurement software mainly comprises a parameter configuration module, a conduction test module, an insulation test module, a self-learning module, a manual test module and a result comparison module.
3. A spacecraft multiport cabling automatic test system according to claim 2, wherein said parameter configuration module is adapted to perform user configuration of two types of data: the first type of data is parameter setting aiming at different test requirements and is used in the test; the second kind of data is the setting of the saved path parameters, and is used for setting the default address saved by each item of test result.
4. The automatic testing system of claim 3, wherein the continuity testing module is configured to perform continuity testing of cables, the insulation testing module is configured to perform insulation testing of cables, and the testing processes of the continuity testing module and the insulation testing module each include importing a node table, port selection, testing, and saving.
5. The automatic testing system of a spacecraft multiport cable according to claim 4, wherein the self-learning testing module is used for detecting the connection relation of the internal nodes of the cable, and the self-learning result can be generated into input files of a conduction test and an insulation test for subsequent testing of the connected cable.
6. The automatic testing system of a spacecraft multiport cable of claim 5, wherein the manual testing module is used for carrying out individual testing on the nodes concerned by users, and the conduction testing and the insulation testing of the nodes concerned can be respectively completed.
7. The automatic testing system of a spacecraft multiport cable of claim 6, wherein self-learning results, conduction testing results, insulation testing results, and distributed capacitance testing results are stored according to the setting of a file storage path, and the result comparison module mainly compares the results generated by each test.
8. The automatic testing system of a spacecraft multiport cable according to claim 7, characterized in that after a tested cable is connected, the testing software sends a self-learning instruction to the self-learning testing module according to the connected testing port, the bottom controller identifies the conduction relations among all the nodes of the cable connected to the current system host and then returns the conduction relations to the testing software, the self-learning testing module identifies all the connection relations of the complex cable to form a result file, and the content of the file comprises the corresponding relation between the cable starting node and the terminal node, the short-circuit node, the cable starting port, the terminal port and the short-circuit node port.
9. The automatic spacecraft multiport cable testing system according to claim 8, wherein said self-learning testing module is implemented in an underlying controller using a binary tree algorithm.
10. A method for automatically testing a multi-port cable of a spacecraft, characterized in that the system for automatically testing a multi-port cable of a spacecraft according to any one of claims 1 to 9 is used for testing.
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Cited By (4)
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| CN115865746A (en) * | 2022-12-06 | 2023-03-28 | 四川九洲电器集团有限责任公司 | A method, device and system for automatic testing of low-frequency cable harnesses |
| CN116754908A (en) * | 2023-07-04 | 2023-09-15 | 北京交通大学 | Multi-channel conduction and insulation test system and test method based on solid state relay |
| CN117907768A (en) * | 2024-01-08 | 2024-04-19 | 国网江苏省电力有限公司无锡供电分公司 | Fully intelligent aviation plug cable detection equipment and detection method |
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| CN116754908A (en) * | 2023-07-04 | 2023-09-15 | 北京交通大学 | Multi-channel conduction and insulation test system and test method based on solid state relay |
| CN116754908B (en) * | 2023-07-04 | 2024-03-19 | 北京交通大学 | Multichannel conduction insulation test system and test method based on solid-state relay |
| CN117907768A (en) * | 2024-01-08 | 2024-04-19 | 国网江苏省电力有限公司无锡供电分公司 | Fully intelligent aviation plug cable detection equipment and detection method |
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Application publication date: 20210903 |