CN208488103U - A kind of magnetic compass correction simulator - Google Patents
A kind of magnetic compass correction simulator Download PDFInfo
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- CN208488103U CN208488103U CN201821304419.6U CN201821304419U CN208488103U CN 208488103 U CN208488103 U CN 208488103U CN 201821304419 U CN201821304419 U CN 201821304419U CN 208488103 U CN208488103 U CN 208488103U
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Abstract
The utility model discloses a kind of magnetic compasses to correct simulator, belong to plane simulation training equipment technical field, it includes normal orientation instrument, model aircraft, servomechanism and display and operation platform, the normal orientation instrument is set to the servomechanism side, for providing magnetic north direction for the model aircraft, the normal orientation instrument includes electronic compass, fixture and bracket, the electronic compass is arranged on the bracket by the fixture, the electronic compass and the display and operation platform transmit information, the model aircraft is arranged in the servomechanism, the model aircraft is equipped with magnetic course transmitter, the magnetic course transmitter and the servomechanism transmit information, the servomechanism and the display and operation platform transmit information.The magnetic compass of the utility model corrects simulator, and for the training of aircraft magnetic deviation calibrated analog, using intuitive and convenient, training function is more, and training effect is good.
Description
Technical field
The utility model relates to plane simulation training equipment technical field, specifically a kind of magnetic compass corrects simulator.
Background technique
Mariner's compass can be all usually installed aboard, these mariner's compasses include magnetic compass, directional gyro, top
Spiral shell compass, gyro-mag, telecompass, Strapdown Attitude Heading Reference System and laser-inertial navigation system etc., are mainly used for provider
Position benchmark, measurement, instruction vector are very high to the exact requirements of mariner's compass, therefore usually need to airborne compass, boat
Appearance system etc. is calibrated；In the calibration training of aircraft magnetic deviation, using actual airplane waste of manpower financial resources, or even aircraft is caused to damage
Condition of the injury condition, therefore, it is necessary to a kind of aircraft magnetic deviation calibrated analog training systems.
The patent that notification number is 104406578 B of CN discloses a kind of aircraft compass course and guides and compass guidance calibration
System and method, the system include microprocessor, magnetic course transmitter, main display terminal, follow display terminal and input equipment；
The inside of microprocessor is equipped with 8 calibration process modules or 12 calibration process modules；Magnetic course transmitter is located at aircraft bottom
Or on the aircraft longitudinal axis line at top or it is parallel to the position of aircraft longitudinal axis line, and its course is consistent with the course of aircraft；Main display
Terminal is arranged in the aircraft cockpit for facilitating flight crew to check；It follows terminal on tractor, is driven for instructing
Accurate towing aircraft and stopping a train at a target point when the person's of sailing swing a compass；It can instruct traction driver and cockpit compass calibration people simultaneously in this way
The function of member's carry out compass calibration, prover time is short, high-efficient, and labor intensity is low, and the compass for being suitable for various aircrafts is calibrated,
To compass testing platform require low, manufacturing cost is low, structure is simple, high in technological content, and the market demand is big, has a extensive future, still,
The utility model cannot be used for the training of aircraft magnetic deviation calibrated analog.Notification number is that the patent of CN100568317 discloses a kind of use
In the simulated training system control device of airplane synthetic guarantee professional technician training, it is related to using on ground comprehensive with aircraft
It closes and ensures related device.The device is made of analog capsule cabin, main control computer and its interface system, monitoring Demonstration table etc., comprehensive
Virtual instrument dash board control technology, single machine multi-touch screen control technology have been used in conjunction, utilize a display to substitution part installing equipment
It completes Flight Instrument template die to intend, the control for carrying out three-dimensional artificial instrument over the display is shown, utilizes single machine multi-touch screen
With more LCD display control technologies, the multiple touch screens of a main control computer drive control and Duo Tai LCD display are realized,
It can be carried out the training of aircraft various states work simulation, the training of detection device operation simulation, troubleshooting technical ability and department enclosure dismounting to simulate
The demonstration of trained and multimedia software, realizes that airplane synthetic guarantee is multi-specialized, multidisciplinary training, and cost performance is high, maintainability is good,
Upgradability is strong, and still, which cannot be used for simulation aircraft magnetic deviation calibration training.
Summary of the invention
In view of this, in view of the shortcomings of the prior art, the utility model provides one kind for simulate aircraft magnetic deviation calibration
Trained magnetic compass corrects simulator.
In order to solve the above technical problems, technical solution adopted in the utility model is: a kind of magnetic compass correction simulation dress
It sets, it is characterised in that: including normal orientation instrument, model aircraft, servomechanism and display and operation platform, the normal orientation instrument setting
In the servomechanism side, for providing magnetic north direction for the model aircraft, the normal orientation instrument include electronic compass,
Fixture and bracket, the electronic compass are arranged on the bracket by the fixture, and the electronic compass and the display are grasped
It controls platform and transmits information, the model aircraft is arranged in the servomechanism, and the model aircraft is equipped with magnetic course transmitter,
The magnetic course transmitter and the servomechanism transmit information, and the servomechanism and the display and operation platform transmit information.
Preferably, the servomechanism includes servomechanism platform, servomechanism driving assembly and the control servomechanism
The servomechanism controller of driving assembly, the servomechanism platform includes cylinder table, and scale is arranged in the cylinder table top edge
Disk, the cylinder table are equipped with rotating circular disk, and the rotating circular disk is driven by the servomechanism being arranged in the cylinder table
Dynamic Component driver, the rotating circular disk are equipped with protective fence, are arranged on the rotating circular disk multiple for fixing the aircraft mould
The wheel wheel shelves of type.
Preferably, the servomechanism driving assembly includes stepper motor, shaft coupling and planetary gear, under the rotating circular disk
The driven wheel of the planetary gear is fixedly installed, the driving wheel of the planetary gear connects driving shaft, and the driving shaft passes through described
Axis device is connect with the motor.
Preferably, the servomechanism controller includes that DC power supply, controllor for step-by-step motor and navigation attitude control box, described
DC power supply is that the controllor for step-by-step motor and the navigation attitude control box power supply, the controllor for step-by-step motor and the stepping
Motor is connected by signal wire, and the magnetic course transmitter and navigation attitude control box transmit information, the step motor control
Device and navigation attitude control box transmit information with the display and operation platform.
Preferably, the display and operation platform includes stage body, AC power source, host computer, main display, synthesis display screen,
The AC power source is the host computer, the main display and synthesis display screen power supply, the main display, described
Synthesis display screen and navigation attitude control box are connect with the host computer, and the synthesis display screen shows the electronic compass
Box information is controlled with the navigation attitude.
Preferably, the model aircraft includes head, body, wing, empennage, undercarriage and hanger, the head, machine
It is detachably assembled between body, wing, empennage, undercarriage and hanger.
Preferably, the model aircraft material is aluminium alloy.
Compared with prior art, the beneficial effects of the utility model are as follows:
The magnetic compass of the utility model corrects simulator, can be used for completing normal orientation instrument training, calibration compass method
Step training, magnetic heading error calculate, compass calibration table fill in compass diviation compensation Drawing of Curve, vdiverse in function, training is intuitive, complete
Face；The normal orientation instrument is arranged in the servomechanism side, for the measurement in earth's magnetic field, can both be indicated by mechanical indicator
It sails to and course electronic data can be exported, the display and operation platform receives course electronic data, and course information is shown
On synthesis display screen, while user of service can be used computer housing and calculate magnetic heading error according to course electronic data；It is described
Model aircraft is designed manufacture in such a way that skeleton adds covering, and head, wing, empennage, undercarriage and hanger are disassembled,
Facilitate carrying and installation, model aircraft uses aluminum alloy material, light quality and stability is good；Quarter on the servomechanism platform
Scale facilitates model aircraft to be adjusted the angle according to normal orientation instrument, and the wheel wheel shelves on servomechanism platform are used for fastening aircraft,
Prevent servomechanism platform in rotation, model aircraft occurs to break away or movement, rotating circular disk are equipped with protective fence, can not only protect
Protect model aircraft, and convenient rotation rotating circular disk manually；It is aobvious to provide data for interaction platform of the display and operation platform as user
Show, the function of manipulation of switches, the magnetic heading information of electronic compass can be shown on synthesis display screen, and electricity can be passed through
Brain server controls the operating of servomechanism driving assembly, integrates observation, regulation, and when use is more convenient；Navigation attitude controls box
The main component for calibrating electronic compass error carries out system using navigation attitude control box by the mobile vector of multiple multi-angle
The training of magnetic deviation calibrated analog is realized in correction.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of servomechanism in the utility model；
Fig. 2 is the structural schematic diagram of the utility model Plays azimuth device；
Fig. 3 is the structural schematic diagram of servomechanism platform in the utility model；
Fig. 4 is the circuit diagram of the utility model；
Fig. 5 is that compass calibration indicates example in the utility model embodiment four:
Fig. 6 is the compass diviation compensation curve graph of 4 simulated experiments in Fig. 5；
Wherein, 1- electronic compass, 2- fixture, 3- bracket, 4- model aircraft, 5- magnetic course transmitter, 6- servomechanism control
Device processed, 7- cylinder table, 8- dial, 9- rotating circular disk, 10- protective fence, 11- wheel wheel shelves, 12- stepper motor, 13- shaft coupling
Device, 14- planetary gear.
Specific embodiment
The utility model in order to better understand is further fairly set out in the utility model below with reference to embodiment
Hold, but the protection content of the utility model is not limited solely to the following examples.In the following description, a large amount of tools are given
The details of body more thoroughly understands in order to provide to the utility model.However, aobvious and easy to those skilled in the art
See, the utility model may not need one or more of these details and be carried out.
Embodiment one
As shown in Fig. 1 ~ 4, a kind of magnetic compass corrects simulator, including normal orientation instrument, model aircraft, servomechanism and
Display and operation platform, the normal orientation instrument are set to the servomechanism side, for providing magnetic north side for the model aircraft
To the normal orientation instrument includes electronic compass 1, fixture 2 and bracket 3, and the electronic compass 1 is arranged by the fixture 2
On the bracket 3, the electronic compass 1 transmits information with the display and operation platform, and the setting of model aircraft 4 is described servo-actuated
In system, the model aircraft 4 is equipped with magnetic course transmitter 5, and the magnetic course transmitter 5 is believed with servomechanism transmission
Breath, the servomechanism and the display and operation platform transmit information.
The servomechanism includes servomechanism platform, servomechanism driving assembly and the control servomechanism driving assembly
Servomechanism controller 6, the servomechanism platform includes cylinder table 7, and dial 8, institute is arranged in 7 top edge of cylinder table
Cylinder table 7 is stated equipped with rotating circular disk 9, the rotating circular disk 9 is driven by the servomechanism being arranged in the cylinder table 7
Component driver, the rotating circular disk 9 are equipped with protective fence 10, and setting three are used to fix the aircraft on the rotating circular disk 9
The wheel wheel shelves 11 of model 4.
The magnetic compass of the utility model embodiment corrects simulator, can be used for completing normal orientation instrument training, calibration sieve
The training of disk method and step, magnetic heading error calculate, compass calibration table is filled in and compass diviation compensation Drawing of Curve, vdiverse in function, training
Intuitively, comprehensively；The normal orientation instrument is arranged in the servomechanism side, for the measurement in earth's magnetic field, can both pass through machinery
Pointer indicates course, and can export course electronic data, and the display and operation platform receives course electronic data, and by heading device
Breath is shown on synthesis display screen, while user of service can be used computer housing and calculate magnetic heading mistake according to course electronic data
Difference；
In addition, the dial on the servomechanism platform, facilitates model aircraft to be adjusted the angle according to normal orientation instrument, it is servo-actuated
Wheel wheel shelves on system bay are used for fastening aircraft, prevent servomechanism platform in rotation, and model aircraft occurs to break away or move
Dynamic, rotating circular disk is equipped with protective fence, can not only protect model aircraft, and convenient rotation rotating circular disk manually.
Embodiment two
As shown in Fig. 1 ~ 4, a kind of magnetic compass corrects simulator, including normal orientation instrument, model aircraft, servomechanism and
Display and operation platform, the normal orientation instrument are set to the servomechanism side, for providing magnetic north side for the model aircraft
To the normal orientation instrument includes electronic compass 1, fixture 2 and bracket 3, and the electronic compass 1 is arranged by the fixture 2
On the bracket 3, the electronic compass 1 transmits information with the display and operation platform, and the setting of model aircraft 4 is described servo-actuated
In system, the model aircraft 4 is equipped with magnetic course transmitter 5, and the magnetic course transmitter 5 is believed with servomechanism transmission
Breath, the servomechanism and the display and operation platform transmit information.
The servomechanism includes servomechanism platform, servomechanism driving assembly and the control servomechanism driving assembly
Servomechanism controller 6, the servomechanism platform includes cylinder table 7, and dial 8, institute is arranged in 7 top edge of cylinder table
Cylinder table 7 is stated equipped with rotating circular disk 9, the rotating circular disk 9 is driven by the servomechanism being arranged in the cylinder table 7
Component driver, the rotating circular disk 9 are equipped with protective fence 10, and setting three are used to fix the aircraft on the rotating circular disk 9
The wheel wheel shelves 11 of model 4.
The magnetic compass of the utility model embodiment corrects simulator, with embodiment one the difference is that: it is described with
Dynamic system drive component includes stepper motor 12, shaft coupling 13 and planetary gear 14, the rotating circular disk 9 lower fixed setting row
The driven wheel of star-wheel, the driving wheel of the planetary gear connect driving shaft, and the driving shaft passes through the shaft coupling 13 and the step
It is connected into motor 12；
The servomechanism controller includes DC power supply, controllor for step-by-step motor and navigation attitude control box, the direct current
Source is the controllor for step-by-step motor and the navigation attitude controls box power supply, and the controllor for step-by-step motor and the stepper motor are logical
Signal wire connection is crossed, the magnetic course transmitter and navigation attitude control box transmit information, the controllor for step-by-step motor and institute
It states navigation attitude control box and transmits information with the display and operation platform.
Embodiment three
The magnetic compass of the utility model embodiment corrects simulator, with embodiment one, two the difference is that: it is described
Display and operation platform includes stage body, AC power source, host computer, main display, synthesis display screen, and the AC power source is the electricity
Brain server, the main display and synthesis display screen power supply, the main display, the synthesis display screen and the navigation attitude
Control box is connect with the host computer, and the synthesis display screen shows the electronic compass and navigation attitude control box letter
Breath.
In the utility model embodiment, interaction platform of the display and operation platform as user, provide data show, manipulation of switches
Function, the magnetic heading information of electronic compass can be shown on synthesis display screen, and can be controlled by host computer
The operating of servomechanism driving assembly integrates observation, regulation, and when use is more convenient；Navigation attitude control box is calibration electronics sieve
The main component of disk error carries out system compensation using navigation attitude control box, realizes sieve by the mobile vector of multiple multi-angle
Poor calibrated analog training.
Example IV
As shown in Fig. 1 ~ 6, a kind of magnetic compass corrects simulator, including normal orientation instrument, model aircraft, servomechanism and
Display and operation platform, the normal orientation instrument are set to the servomechanism side, for providing magnetic north side for the model aircraft
To the normal orientation instrument includes electronic compass 1, fixture 2 and bracket 3, and the electronic compass 1 is arranged by the fixture 2
On the bracket 3, the electronic compass 1 transmits information with the display and operation platform, and the setting of model aircraft 4 is described servo-actuated
In system, the model aircraft 4 is equipped with magnetic course transmitter 5, and the magnetic course transmitter 5 is believed with servomechanism transmission
Breath, the servomechanism and the display and operation platform transmit information.
The servomechanism includes servomechanism platform, servomechanism driving assembly and the control servomechanism driving assembly
Servomechanism controller 6, the servomechanism platform includes cylinder table 7, and dial 8, institute is arranged in 7 top edge of cylinder table
Cylinder table 7 is stated equipped with rotating circular disk 9, the rotating circular disk 9 is driven by the servomechanism being arranged in the cylinder table 7
Component driver, the rotating circular disk 9 are equipped with protective fence 10, and setting three are used to fix the aircraft on the rotating circular disk 9
The wheel wheel shelves 11 of model 4.
The servomechanism driving assembly includes stepper motor 12, shaft coupling 13 and planetary gear 14, under the rotating circular disk 9
The driven wheel of the planetary gear is fixedly installed, the driving wheel of the planetary gear connects driving shaft, and the driving shaft passes through described
Axis device 13 is connect with the stepper motor 12；
The servomechanism controller includes DC power supply, controllor for step-by-step motor and navigation attitude control box, the direct current
Source is the controllor for step-by-step motor and the navigation attitude controls box power supply, and the controllor for step-by-step motor and the stepper motor are logical
Signal wire connection is crossed, the magnetic course transmitter and navigation attitude control box transmit information, the controllor for step-by-step motor and institute
It states navigation attitude control box and transmits information with the display and operation platform；
The display and operation platform includes stage body, AC power source, host computer, main display, synthesis display screen, the exchange
Power supply is the host computer, the main display and synthesis display screen power supply, the main display, the synthesis display
Screen and navigation attitude control box are connect with the host computer, and the synthesis display screen shows the electronic compass and the boat
Attitude control box information；
The magnetic compass of the utility model embodiment corrects simulator, with embodiment one, two, three the difference is that:
The model aircraft 4 includes head, body, wing, empennage, undercarriage and hanger, and the head, wing, empennage, rises body
Fall between frame and hanger and detachably assemble, facilitate carrying and installation, 4 material of model aircraft is aluminium alloy, light quality and
It is sturdy and durable.
The analogy method of the aircraft magnetic deviation calibrated analog training system of the utility model embodiment, comprising the following steps: 1)
Work as magnetic north finding out far from electronics area using the normal orientation instrument, the model aircraft is moved to magnetic heading 0
Spend position；
2) power on, navigation attitude is controlled into " DG-MAG " switch on box and is placed in the position " MAG "；In the case where preparing picture, even
Continuous to press " menu " key twice, control panel enters magnetic deviation calibration menu screen, shows " MAGCAL START ", presses the navigation attitude control
Magnetic deviation calibration starts after " confirmation " key on box processed, and control panel shows " TURN TOXXX ", and calibration process starts；
3) the current course of the model aircraft is measured using the normal orientation instrument, and the model aircraft is gone to
0 °, stop the model aircraft rotation, adjusts navigation attitude control box to 45 °, press " confirmation " key；
4) adjust navigation attitude control box, make the model aircraft successively go to 45 °, 90 °, 135 °, 180 °, 225 °, 270 °,
315 °, magnetic deviation calibration finishes；
5) using the host computer and main display of the display and operation platform, magnetic heading error is calculated, draws compass calibration
Table and compass diviation compensation curve.
As can be seen that the error of each magnetic deviation calibration is no more than ± 5% from Fig. 5 ~ Fig. 6, and with magnetic deviation calibration time
Several increases, compass diviation compensation curve is gradually gentle, and the effect of compass calibration enhances therewith, aircraft sieve of the utility model embodiment
The simulated training effect of poor calibrated analog training system is good, and student is enabled to carry out good training to the calibration of aircraft magnetic deviation.
Finally, it is stated that above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, this field
Other modifications or equivalent replacement that those of ordinary skill makes the technical solution of the utility model, it is practical without departing from this
The spirit and scope of new technique scheme should all cover in the scope of the claims of the utility model.
Claims (7)
1. a kind of magnetic compass corrects simulator, it is characterised in that: including normal orientation instrument, model aircraft, servomechanism and show
Show that operation bench, the normal orientation instrument are set to the servomechanism side, for providing magnetic north direction for the model aircraft,
The normal orientation instrument includes electronic compass, fixture and bracket, and the electronic compass is arranged by the fixture in the bracket
On, the electronic compass and the display and operation platform transmit information, and the model aircraft is arranged in the servomechanism, described
Model aircraft is equipped with magnetic course transmitter, and the magnetic course transmitter and the servomechanism transmit information, the servo-actuated system
System transmits information with the display and operation platform.
2. magnetic compass as described in claim 1 corrects simulator, it is characterised in that: the servomechanism includes servomechanism
The servomechanism controller of platform, servomechanism driving assembly and the control servomechanism driving assembly, the servomechanism platform
Including cylinder table, dial is arranged in the cylinder table top edge, and the cylinder table is equipped with rotating circular disk, the rotating circular disk
By the servomechanism driving assembly driving being arranged in the cylinder table, the rotating circular disk is equipped with protective fence, described
It is arranged on rotating circular disk multiple for fixing the wheel wheel shelves of the model aircraft.
3. magnetic compass as claimed in claim 2 corrects simulator, it is characterised in that: the servomechanism driving assembly includes
The driven wheel of the planetary gear is fixedly installed under the rotating circular disk for stepper motor, shaft coupling and planetary gear, the planetary gear
Driving wheel connects driving shaft, and the driving shaft is connect by the shaft coupling with the stepper motor.
4. magnetic compass as claimed in claim 3 corrects simulator, it is characterised in that: the servomechanism controller includes straight
Galvanic electricity source, controllor for step-by-step motor and navigation attitude control box, and the DC power supply is the controllor for step-by-step motor and the navigation attitude
Control box power supply, the controllor for step-by-step motor connect with the stepper motor by signal wire, the magnetic course transmitter and
The navigation attitude control box transmits information, and the controllor for step-by-step motor and navigation attitude control box are passed with the display and operation platform
Defeated information.
5. magnetic compass as claimed in claim 4 corrects simulator, it is characterised in that: the display and operation platform include stage body,
AC power source, host computer, main display, synthesis display screen, the AC power source are the host computer, the main display
With the synthesis display screen power, the main display, the synthesis display screen and the navigation attitude control box with the computer
Host connection, the synthesis display screen show the electronic compass and navigation attitude control box information.
6. magnetic compass as claimed in claim 1 or 5 corrects simulator, it is characterised in that: the model aircraft include head,
Body, wing, empennage, undercarriage and hanger, detachable group between the head, body, wing, empennage, undercarriage and hanger
Dress.
7. magnetic compass as claimed in claim 6 corrects simulator, it is characterised in that: the model aircraft material is aluminium conjunction
Gold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821304419.6U CN208488103U (en) | 2018-08-14 | 2018-08-14 | A kind of magnetic compass correction simulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821304419.6U CN208488103U (en) | 2018-08-14 | 2018-08-14 | A kind of magnetic compass correction simulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208488103U true CN208488103U (en) | 2019-02-12 |
Family
ID=65246819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821304419.6U Expired - Fee Related CN208488103U (en) | 2018-08-14 | 2018-08-14 | A kind of magnetic compass correction simulator |
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| Country | Link |
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| CN (1) | CN208488103U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108922309A (en) * | 2018-08-14 | 2018-11-30 | 中国人民解放军空军工程大学航空机务士官学校 | A kind of aircraft magnetic deviation calibrated analog training system |
| CN111060134A (en) * | 2019-12-10 | 2020-04-24 | 中船航海科技有限责任公司 | Device for measuring follow-up error of magnetic heading sending device |
| CN113670331A (en) * | 2020-05-15 | 2021-11-19 | 中航西飞民用飞机有限责任公司 | Method for installing standby magnetic compass of airplane |
-
2018
- 2018-08-14 CN CN201821304419.6U patent/CN208488103U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108922309A (en) * | 2018-08-14 | 2018-11-30 | 中国人民解放军空军工程大学航空机务士官学校 | A kind of aircraft magnetic deviation calibrated analog training system |
| CN108922309B (en) * | 2018-08-14 | 2024-05-28 | 中国人民解放军空军工程大学航空机务士官学校 | Airplane compass calibration simulation training system |
| CN111060134A (en) * | 2019-12-10 | 2020-04-24 | 中船航海科技有限责任公司 | Device for measuring follow-up error of magnetic heading sending device |
| CN113670331A (en) * | 2020-05-15 | 2021-11-19 | 中航西飞民用飞机有限责任公司 | Method for installing standby magnetic compass of airplane |
| CN113670331B (en) * | 2020-05-15 | 2024-02-09 | 中航西飞民用飞机有限责任公司 | Method for installing standby magnetic compass of airplane |
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Granted publication date: 20190212 |