US3881106A - Device for producing electrical signals by means of a control stick - Google Patents

Device for producing electrical signals by means of a control stick Download PDF

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Publication number
US3881106A
US3881106A US438288A US43828874A US3881106A US 3881106 A US3881106 A US 3881106A US 438288 A US438288 A US 438288A US 43828874 A US43828874 A US 43828874A US 3881106 A US3881106 A US 3881106A
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United States
Prior art keywords
control stick
source
cells
radiation
producing signals
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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US438288A
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English (en)
Inventor
Erwin Pocker
Gert Grundmann
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Airbus Defence and Space GmbH
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Messerschmitt Bolkow Blohm AG
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04707—Mounting of controlling member with ball joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04759—Light-sensitive detector, e.g. photoelectric

Definitions

  • ABSTRACT A device for producing electrical signals, comprises a control stick which is pivotally mounted for back and forward movement intermediate its length.
  • One end of the control stick for example the bottom end, is provided with a source of luminous radiation adjacent this end, and the stick is biased into a neutral position, for example a central position, by means of spring elements engaging it from respective opposite sides.
  • the apparatus includes at least four fixed photosensitive cells which are disposed symmetrically about the radiation source. Two of each of the photosensitive cells are connected to each of two circuits of an electrical transmission means which comprises two electrical circuits.
  • the source of radiation is advantageously surrounded by a screen which is secured to the control stick for movement therewith.
  • two photosensitive cells are disposed at mutually opposed locations and connected in a common circuit with the cells disposed in one plane and the cells disposed in the opposite plane being mounted in opposition to each other.
  • Control devices which include a pivotal control stick for effecting the transmission of control signals.
  • the control signals produced by varying the inclination of the control stick are used for controlling the movement and position of hoisting units and machine tools or for the remote control of aircraft surfaces, for example.
  • Control and steering operations of this kind require a sensitive actuation, if possible, with a complete elimination of inertial forces and an immediate response of the system to any change in the position of the control stick.
  • a tilting of the control stick results in the adjustment of two potentiometers which are disposed in two control planes perpendicular to teach other.
  • the control voltages, which are transformed into remote control signals corresponding to the control planes, are a function of the control stick position and are tapped off of the potentiometers.
  • Such a device has several drawbacks. From the mechanical point of view, there must be provided a certain minimum size if a statisfactory precision is to be obtained. Limits are therefore set in respect to miniaturization of such a system. Further, potentiometers permit voltage variations only in steps. They also have the disadvantage that a permanent use leads to abrasion and consequently corrosion of the sliders and turns, reducing the life of these parts and increasing the contact resistances with the necessiity of frequent adjustment as a reslt.
  • the present invention provides an easily operable control stick unit of small size wherein voltages, approximately proportional to the angular position of the control stick, are delivered as control signals to a control device connected thereto and, during the operation, the mechanical wear of the parts is maintained at a minimum.
  • this problem is solved by providing a source of luminous radiation mounted on one end of a pivotal control stick, and at least four fixed photosensitive cells which are disposed symmetrically about the source of radiation, with two each of said cells being connected in each one of two separate electrical tranmission circuits.
  • the source of radiation is surrounded by a screen which is secured to the control stick and the photosensitive cells are disposed so that, in the neutral mid position of the control stick, they extend parallel to the axis of the stick and their bottom edges are flush with the bottom edge of the screen.
  • the screen is omitted and the photosensitive cells are directly exposed to the source of radiation and located in planes forming an angle with the axis of the control stick in mid position.
  • the invention further provides a circuit arrangement for the electrical part of the control stick unit in which two of the photosensitive cells are opposed to two others, and each two are connected in a common circuit and mounted electrically in opposition to each other.
  • control stick which requires no intermediate mechanical parts for producing the variable control voltages, permits a simple adaptation to the desired value of the controlvoltage.
  • control stick units heretofore. Because the control stick is the single mobile part in the device and the source of radiation mounted thereon can be operated with undervoltage, the unit requires substantially no maintenance. The actuation of the control stick 'is not hindered by any mechanical transmission member so that the ease of manipulation can be adjusted at any time to the desired degree by adjusting the springs retaining the stick in the neutral mid position.
  • the photosensitive cells may be selected in accordance with the problem to be solved. At voltages of about 3 to 4 v and more, it is preferable to use photo-emissive cells. These cells are'connected into the circuit with the working voltage applied thereto and are conductive only when irradiated. Their conductivity attains a certain saturation at which the full applied voltage can pass through and may be collected.
  • the desired voltage value may also be predetermined by choosing not only the type but also the quantity of the photocells disposed in each plane.
  • Another advantage is the fact that the voltage variation as a function of the stick inclination can be influenced by selecting an appropriate source of radiation. For example, with a luminous source having the lamp bulb flattened on the front end, a more flattened voltage rise will. be obtained at small angles than at large angles of inclination of the stick, which is desired for some purposes. Possible variations in the brightness of the luminous source can be made ineffective by adjusting the saturation limit of the photosensitive cell to the smallest brightness range. Thereby, a completely uniform collection of light and, consequently, delivery of voltage is obtained irrespective of the direction in which the stick has been tilted.
  • a device for producing signals which includes a control stick which is pivotally mounted intermediate its length and which may be pivoted to effect the transmission of control signals through a transmission means which includes two electrical circuits, the stick being biased into a netural position and being provided with a source of luminous radiation on an end which is spaced from the pivotal mounting thereof which is surrounded by at least four symmetrically arranged photosensitive cells With two of each of these cells being connected in respective ones of the two circuits.
  • a further object of the invention is to provide a device for producing signals which is simple in design, rugged in construction and economical to manufacture.
  • FIG. 1 is a transverse sectional view through a control device constructed in accordance with the invention
  • FIG. 2 is a view of the control device of FIG. 1 shown in an operative position
  • FIG. 3 is a view similar to FIG. 1 of another embodiment of the invention.
  • FIG. 4 is a circuit diagram for one tilting plane of the control stick.
  • FIG. 5 is a view similar to FIG. 1 of another embodiment of the invention.
  • the invention embodied therein in FIG. 1 comprises a control device, generally designated 50, which, for example, may comprise a control mechanism for operating the surfaces of an aircraft and which includes a control stick 1 in the form of a double armed lever which is pivotally mounted in a pivot bearing or gimbal mounting 2 on a top wall of a container or frame 3.
  • the bearing 2 is ad vantageously a universal bearing and permits the control stick 1 to be tilted by an angle a in all of the planes which pass through the axis of the control stick 1.
  • the control stick is held in a neutral position, in this case a central position, by four separate springs 4, which are connected intermediate the length of a top arm portion la of lever l and frame 3 at four locations which are spaced on frame 3 at 90 from each other.
  • Springs 4 constitute biasing means for biasing stick 1 into a netural position.
  • control stick 1 also includes another end portion or bottom end portion lb which carries a luminous source 5 at a spaced location from the pivotal mounting 2, for example, at the bottom end.
  • Luminous source 5 is supplied with electric current by a connection extending through the stick, which has not been shown.
  • At least four separate photosensitive cells 7a to 7d are arranged at equally spaced locations from the luminous source in a fixed position inside of the frame 3 with their bottom edges flush with the bottom edge of a screen 6 which is positioned around the lower end of control stick 1.
  • Photosensitive cell 7d which is opposite to cell 70, shown in FIG. 2 is not indicated. In the embodiment shown, at least four photosensitive cells 7 are provided, but a number more than 4, for example 8, 12 or even more, may be used for producing higher voltages.
  • the embodiment shown in FIG. 3 comprises a control device, generally designated 52, which includes a control stick or double armed lever 1', which is pivotally mounted on a universal joint 2 and is biased into a neutral position by springs 4, similar to the embodiment shown in FIG. 1.
  • the luminous source comprises a lamp 10, which is located on the arm portion lb of control stick or double armed lever 1'.
  • Lamp comprises a rounded glass bulb which irradiates the photosensitive cells 70', 7b, 7c and 7d, but without a screen interposed therebetween.
  • Cells 7 are mounted so as to be inclined with respect to the axis of the control stick in the neutral position.
  • FIG. 4 shows a circuit diagram arrangement which includes a possible series connection of the photosensitive cells 7a and 7b which, for example, may also be photo-emissive cells and thus connected in a circuit to which a working voltage is applied. Positive voltage is applied to terminal 20 and a negative voltage is applied to terminal 21. Balancing resistances 22 and 23 are provided between the photo-emissive cells 7a and 7b, permitting a precise fixing or shifting of the starting point of the voltage increase. Between the balancing resistances 22 and 23, a load resistance 24 is connected in parallel to the two cells 7a and 7b. The signal voltage for a control device (not shown) is collected between terminals 25 and 26 which are located at the two ends of the load resistance 24. Outside of terminal 25, the circuit is closed through a ground terminal 27.
  • the photosensitive cells function in a passive manner, that is they are non-conducting as long as they are not irradiated by a luminous source. Their conductivity rises linearly with the incident luminous radiation up to a maximum value. The maximum value of current flow should substantially correspond to the applied voltage which can then be collected at the terminals 25 and 26. If active, that is photoconductive or photovoltaic cells are used, terminals 20 and 21 are connected to ground terminal 27. In such a case, the voltage is produced in the cells themselves, and can also be collected at terminals 25 and 26 up to a maximum value depending on the type of end quantity of the cells used.
  • the control stick unit operates as follows:
  • photosensitive cells 7 are not irradiated, as shown in FIG. 1, because of intervening screen 6.
  • photosensitive cell 7a With the tilting of control stick 1 by an angle a, photosensitive cell 7a is irradiated by the light in a degree determined as a function of the angle, and it becomes correspondingly conductive for the current flowing from terminal 20 until it is in the limit position of the stick, as shown in FIG. 2.
  • the full applied positive voltage can be collected between terminals 25 and 26.
  • control stick 1 While tilting control stick 1 by an angle a in the opposite direction, negative current flows from terminal 21 through photosensitive cell 7b and can be collected between terminals 25 and 26 as a negative voltage. The same is obtained with photosensitive cells 7c and 7d if control stick 1 is tilted perpendicularly to the drawing plane and a positive or negative voltage can be collected in the respective circuit, which is arranged in the same manner as shown in FIG. 4.
  • Control stick 1 mounted in a ball-socket swivelbearing, can be tilted in any direction, and the voltage produced corresponds to the angular position and directional orientation of the stick.
  • the currents flowing through the two branches of the circuit and resulting from the irradiation of the photosensitive cells compensate each other.
  • a difference voltage is obtained corresponding to the angular position and orientation and resulting from the voltages produced in the respective photosensitive cells 7a to 7d.
  • this difference voltage can be collected at terminals 25 and 26.
  • the embodiment of FIG. 3 has the advantage of better utilizing the radiation.
  • control stick I, 1 may also be designed as a one-armed lever, such as the control stick 3 shown in FIG. 5.
  • the control stick 3 is universally mounted on a universal mounting 2" as shown in FIG. 5, and it includes a luminous source 5", which is located near its bottom end at a spaced location from pivot 2".
  • Photoelectric cells 7a", 7b", 7c" and 7d" are arranged symmetrically around luminous source 5", as in the other embodiments.
  • a device for producing signals comprising a control stick having a manipulatable handle portion and being universally pivotally movable to transmit control signals, universal mounting means mounting said control stick for universal pivotal movement, biasing means urging said control stick into a neutral position, transmission means comprising two electrical circuits adapted to be influenced by the angular position of said control stick, a source of luminous radiation mounted on and adjacent an end of said control stick at a spaced location from its pivotal mounting, means associated with said luminous radiation source to shield the photocells from the source in predetermined positions of said control stick, and at least four fixed photosensitive cells arranged in opposed pairs disposed symmetrically about said radiation source and two being connected in each of said two circuits, the center lines of said cells each being in a plane containing the axis of said control stick in said neutral position and being disposed at an angle to each other which is less than 180.
  • said shielding means comprises a screen surrounding said source of radiation and carried by said control stick and in which said photosensitive cells have bottom edges which extend in the same plane as the bottom edge of said screen.
  • a device for producing signals according to claim 1, wherein said photosensitive cells are directly exposed to the said source of radiation.
  • said electrical circuits include a circuit having two photosensitive cells disposed at mutually opposed locations and being disposed in a plane which is perpendicular to the plane of the other two of said cells.
  • a device for producing signals according to claim 1, wherein said photosensitive cells are passive cells.
  • a device for producing signals according to claim 1, wherein said photosensitive cells are active cells.
  • control stick is a double-armed lever, including an upper portion which is adapted to be engaged by a persons hand and a lower portion on the opposite side of said pivotal mounting carrying said source of luminous radiation.
  • a device for producing signals according to claim 7, wherein said source of luminous radiation is carried on the outer end of the bottom of said control stick.
  • control stick comprises a single arm lever, said luminous source of radiation being spaced from said pivotal connection upwardly along said con-

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Switches With Compound Operations (AREA)
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US438288A 1973-02-27 1974-01-31 Device for producing electrical signals by means of a control stick Expired - Lifetime US3881106A (en)

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DE19732309682 DE2309682A1 (de) 1973-02-27 1973-02-27 Einrichtung zur erzeugung von signalen mit einem steuerknueppel

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US (1) US3881106A (enrdf_load_stackoverflow)
DE (1) DE2309682A1 (enrdf_load_stackoverflow)
FR (1) FR2219475B3 (enrdf_load_stackoverflow)
IT (1) IT1003598B (enrdf_load_stackoverflow)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4445541A (en) * 1981-07-06 1984-05-01 Dana Corporation Hydraulic remote control joystick
EP0091100A3 (de) * 1982-04-02 1984-11-28 Hagen, Kurt Mehrweg-Schalthebel
US4680465A (en) * 1984-04-23 1987-07-14 Parker Hannifin Corporation Multi-axis force controller
US4686361A (en) * 1983-03-08 1987-08-11 Bard Arnold D Joystick control unit
US4716399A (en) * 1985-01-14 1987-12-29 The Boeing Company Optomechanical control apparatus
US4782327A (en) * 1985-01-02 1988-11-01 Victor B. Kley Computer control
US4785180A (en) * 1986-04-04 1988-11-15 Deutsche Forschungs-Und Versuchsanstalt Fur Luft-Und Raumfahrt E.V. Optoelectronic system housed in a plastic sphere
US4905007A (en) * 1987-05-29 1990-02-27 Samson Rohm Character input/output device
DE3844020A1 (de) * 1988-12-27 1990-06-28 Samson Ag Wegsensor mit mechanischen getriebegliedern
US5162968A (en) * 1986-10-27 1992-11-10 Leviton Manufacturing Company, Inc. Fiber optic wiring control system
US5563629A (en) * 1993-09-24 1996-10-08 Sintecna S.R.L. Device for pointing the cursor on the screen of interactive systems
GB2339469A (en) * 1998-07-10 2000-01-26 Ultronics Limited Joystick actuators
EP1640842A2 (de) * 2004-09-15 2006-03-29 Gerhard Wergen Analoges Stellelement
US20080251702A1 (en) * 2007-04-16 2008-10-16 Balluff Gmbh Light barrier device and method of manufacturing a light barrier device
US20090014261A1 (en) * 2006-08-29 2009-01-15 Jonathan Sidney Edelson Apparatus for controlling aircraft parking brakes
US8785837B2 (en) 2010-08-31 2014-07-22 Balluff Gmbh Photoelectric barrier apparatus

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4441676A (en) * 1980-09-27 1984-04-10 British Aerospace Public Limited Company Force control member assemblies
DE4409530C2 (de) * 1993-03-19 1999-05-20 Basys Ges Fuer Anwender Und Sy Berührungslos arbeitende Meßeinrichtung und deren Verwendung zur Bestimmung des zweideimensional definierten Ortes eines Meßkörpers

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2447344A (en) * 1943-05-31 1948-08-17 Honeywell Regulator Co Photoelectric system for remote indication of angular position
US2979628A (en) * 1959-02-09 1961-04-11 Heat Timer Corp Photo-electric monitor for pointer indicating instruments
US3190131A (en) * 1960-06-30 1965-06-22 Lear Siegler Inc Photo-electric pickoff and resolver for gyroscopes
US3223846A (en) * 1962-01-02 1965-12-14 Giannini Controls Corp Photosensitive optical fluid stream direction indicator
US3513247A (en) * 1967-05-02 1970-05-19 Chicago Musical Instr Co Photoresistor swell control for a musical instrument
US3521072A (en) * 1967-08-21 1970-07-21 James W Wipson Variable masking of radiation sensitive areas along x and y axes by pivotally mounted control shaft

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2447344A (en) * 1943-05-31 1948-08-17 Honeywell Regulator Co Photoelectric system for remote indication of angular position
US2979628A (en) * 1959-02-09 1961-04-11 Heat Timer Corp Photo-electric monitor for pointer indicating instruments
US3190131A (en) * 1960-06-30 1965-06-22 Lear Siegler Inc Photo-electric pickoff and resolver for gyroscopes
US3223846A (en) * 1962-01-02 1965-12-14 Giannini Controls Corp Photosensitive optical fluid stream direction indicator
US3513247A (en) * 1967-05-02 1970-05-19 Chicago Musical Instr Co Photoresistor swell control for a musical instrument
US3521072A (en) * 1967-08-21 1970-07-21 James W Wipson Variable masking of radiation sensitive areas along x and y axes by pivotally mounted control shaft

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4445541A (en) * 1981-07-06 1984-05-01 Dana Corporation Hydraulic remote control joystick
EP0091100A3 (de) * 1982-04-02 1984-11-28 Hagen, Kurt Mehrweg-Schalthebel
US4686361A (en) * 1983-03-08 1987-08-11 Bard Arnold D Joystick control unit
US4680465A (en) * 1984-04-23 1987-07-14 Parker Hannifin Corporation Multi-axis force controller
US4782327A (en) * 1985-01-02 1988-11-01 Victor B. Kley Computer control
US4716399A (en) * 1985-01-14 1987-12-29 The Boeing Company Optomechanical control apparatus
US4785180A (en) * 1986-04-04 1988-11-15 Deutsche Forschungs-Und Versuchsanstalt Fur Luft-Und Raumfahrt E.V. Optoelectronic system housed in a plastic sphere
US5162968A (en) * 1986-10-27 1992-11-10 Leviton Manufacturing Company, Inc. Fiber optic wiring control system
US4905007A (en) * 1987-05-29 1990-02-27 Samson Rohm Character input/output device
DE3844020A1 (de) * 1988-12-27 1990-06-28 Samson Ag Wegsensor mit mechanischen getriebegliedern
US5563629A (en) * 1993-09-24 1996-10-08 Sintecna S.R.L. Device for pointing the cursor on the screen of interactive systems
GB2339469A (en) * 1998-07-10 2000-01-26 Ultronics Limited Joystick actuators
US6342879B1 (en) 1998-07-10 2002-01-29 Ultronics Limited Joystick actuators
GB2339469B (en) * 1998-07-10 2003-03-12 Ultronics Ltd Joystick actuators
EP1640842A2 (de) * 2004-09-15 2006-03-29 Gerhard Wergen Analoges Stellelement
US20090014261A1 (en) * 2006-08-29 2009-01-15 Jonathan Sidney Edelson Apparatus for controlling aircraft parking brakes
US20080251702A1 (en) * 2007-04-16 2008-10-16 Balluff Gmbh Light barrier device and method of manufacturing a light barrier device
US8785837B2 (en) 2010-08-31 2014-07-22 Balluff Gmbh Photoelectric barrier apparatus

Also Published As

Publication number Publication date
IT1003598B (it) 1976-06-10
FR2219475A1 (enrdf_load_stackoverflow) 1974-09-20
DE2309682A1 (de) 1974-09-26
FR2219475B3 (enrdf_load_stackoverflow) 1976-11-26

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