Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964477
G. Papadimitriou, D. Lane
Mine Countermeasures (MCM) are a substantial challenge in the domain of underwater operations especially when using Autonomous Underwater Vehicles (AUVs). The work presented in this paper focuses on the semantic representation of knowledge and its utilization for mission planning and plan adaptation in a simulated MCM environment using the Nessie AUV. With respect to semantic knowledge representation this work builds upon the KnowRob system. Various ontologies model the environment, the AUV components and capabilities as well as the planning domain. For planning and plan adaptation we use the POPF Planning Domain Definition Language (PDDL) planner. Plan adaptation reuses previous plans when calculating a new plan thus saving computational resources. The main contribution of this work is an approach that relies on semantic information to represent knowledge in a MCM context and its usage for planning MCM missions in an energy efficient manner.
{"title":"Semantic based knowledge representation and adaptive mission planning for MCM missions using AUVs","authors":"G. Papadimitriou, D. Lane","doi":"10.1109/OCEANS-TAIPEI.2014.6964477","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964477","url":null,"abstract":"Mine Countermeasures (MCM) are a substantial challenge in the domain of underwater operations especially when using Autonomous Underwater Vehicles (AUVs). The work presented in this paper focuses on the semantic representation of knowledge and its utilization for mission planning and plan adaptation in a simulated MCM environment using the Nessie AUV. With respect to semantic knowledge representation this work builds upon the KnowRob system. Various ontologies model the environment, the AUV components and capabilities as well as the planning domain. For planning and plan adaptation we use the POPF Planning Domain Definition Language (PDDL) planner. Plan adaptation reuses previous plans when calculating a new plan thus saving computational resources. The main contribution of this work is an approach that relies on semantic information to represent knowledge in a MCM context and its usage for planning MCM missions in an energy efficient manner.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132057516","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964584
S. Maresca, P. Braca, R. Grasso, J. Horstmann, J. Seemann
In maritime surveillance systems, providing realtime, clear and accurate pictures of wide areas is essential for the human decision-making process. In such a context, oceanographic high-frequency surface-wave (HFSW) radars could be cost-effective sensors for long-range early-warning ship detection and tracking. In this paper, multi-target tracking and data fusion techniques are applied to real data recorded by three low-power HFSW radars installed in the German Bight of the North Sea. Ship reports from the automatic identification system (AIS) are exploited as ground truth information for assessing system performances. Both in situ and model data are used to investigate the capabilities of the systems according to the variations of the meteorological and oceanographic conditions. Preliminary results are presented and discussed, together with an outline for future research studies.
{"title":"Oceanographic HF surface-wave radars for maritime surveillance in the German Bight","authors":"S. Maresca, P. Braca, R. Grasso, J. Horstmann, J. Seemann","doi":"10.1109/OCEANS-TAIPEI.2014.6964584","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964584","url":null,"abstract":"In maritime surveillance systems, providing realtime, clear and accurate pictures of wide areas is essential for the human decision-making process. In such a context, oceanographic high-frequency surface-wave (HFSW) radars could be cost-effective sensors for long-range early-warning ship detection and tracking. In this paper, multi-target tracking and data fusion techniques are applied to real data recorded by three low-power HFSW radars installed in the German Bight of the North Sea. Ship reports from the automatic identification system (AIS) are exploited as ground truth information for assessing system performances. Both in situ and model data are used to investigate the capabilities of the systems according to the variations of the meteorological and oceanographic conditions. Preliminary results are presented and discussed, together with an outline for future research studies.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130469779","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964455
Fei Wu, Jinlin Hou
Wave force plays an important role in the deepwater pile stick-up analysis. Especially when the pile top is near sea surface, with the addition of wave dynamic response, wave force will increase significantly. Based on the characteristics of the deepwater pile, main attention in this paper is focused on the important influence of wave dynamic response on the deepwater pile stick-up analysis and an example of real project is given.
{"title":"Influence of wave dynamic response on the deepwater pile stick-up analysis","authors":"Fei Wu, Jinlin Hou","doi":"10.1109/OCEANS-TAIPEI.2014.6964455","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964455","url":null,"abstract":"Wave force plays an important role in the deepwater pile stick-up analysis. Especially when the pile top is near sea surface, with the addition of wave dynamic response, wave force will increase significantly. Based on the characteristics of the deepwater pile, main attention in this paper is focused on the important influence of wave dynamic response on the deepwater pile stick-up analysis and an example of real project is given.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134030319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964344
Tae Rim Kim, Jae Hyuk Lee, Dong Soo Kim
High swell is often generated offshore and damages the east coasts of Korea and accidents, a correct prediction of dangerous swells should be done before they approach to the shore. Recently, a warning system to countermeasure dangerous swells is setup on the east coast of Korea with simultaneous in-situ wave measurements at the northeast site of Ulleung offshore island and at Hupo nearshore station. By analyzing these intensive wave observation data and wave prediction model results, detailed swell characteristics are studied in the East coast of Korea. Calculated wave data by the system are compared to the wave data predicted using wind input data and observed wave data at nearshore station.
{"title":"Intensive study of dangerous swells using a swell warning system","authors":"Tae Rim Kim, Jae Hyuk Lee, Dong Soo Kim","doi":"10.1109/OCEANS-TAIPEI.2014.6964344","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964344","url":null,"abstract":"High swell is often generated offshore and damages the east coasts of Korea and accidents, a correct prediction of dangerous swells should be done before they approach to the shore. Recently, a warning system to countermeasure dangerous swells is setup on the east coast of Korea with simultaneous in-situ wave measurements at the northeast site of Ulleung offshore island and at Hupo nearshore station. By analyzing these intensive wave observation data and wave prediction model results, detailed swell characteristics are studied in the East coast of Korea. Calculated wave data by the system are compared to the wave data predicted using wind input data and observed wave data at nearshore station.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"184 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131652223","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964322
S. Plass, R. Hermenier
Demands on security, safety, and environmental protection in worldwide shipping is steadily increasing. Shipboard broadcast transponders based on the automatic identification system (AIS) can be easily detected close to coast or waterway areas. Satellite-based AIS receivers detect globally but are limited in high density traffic areas. In this paper, a new possibility for worldwide AIS detection via airliners is presented. A first study is given towards the potential coverage of an airliner-based AIS detection. The usage of airliners as a complementary surveillance infrastructure for detecting AIS signals enables a comprehensive ship detection infrastructure for the future.
{"title":"Study on worldwide detection of AIS signals via airliners","authors":"S. Plass, R. Hermenier","doi":"10.1109/OCEANS-TAIPEI.2014.6964322","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964322","url":null,"abstract":"Demands on security, safety, and environmental protection in worldwide shipping is steadily increasing. Shipboard broadcast transponders based on the automatic identification system (AIS) can be easily detected close to coast or waterway areas. Satellite-based AIS receivers detect globally but are limited in high density traffic areas. In this paper, a new possibility for worldwide AIS detection via airliners is presented. A first study is given towards the potential coverage of an airliner-based AIS detection. The usage of airliners as a complementary surveillance infrastructure for detecting AIS signals enables a comprehensive ship detection infrastructure for the future.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131136347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964497
Xiaoding Wang, Jun Han
A mechanical model of undersea tunnel shotcrete positioning system is presented, by which the positioning error of the spray nozzle at each working point can be calculated. The entire process was divided into four phases, for each stage, the separate calculation and analysis were carried out, and the error distributions were obtained. Compared with the calculating results, the experimental data showed that the error distribution of the positioning system was consistent with the theoretical model predictions.
{"title":"Error calculation and analysis of undersea tunnel shotcrete positioning system","authors":"Xiaoding Wang, Jun Han","doi":"10.1109/OCEANS-TAIPEI.2014.6964497","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964497","url":null,"abstract":"A mechanical model of undersea tunnel shotcrete positioning system is presented, by which the positioning error of the spray nozzle at each working point can be calculated. The entire process was divided into four phases, for each stage, the separate calculation and analysis were carried out, and the error distributions were obtained. Compared with the calculating results, the experimental data showed that the error distribution of the positioning system was consistent with the theoretical model predictions.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"247 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133516712","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964490
V. De Carolis, D. Lane, K. Brown
This work introduces a low-cost energy measurement method and proposes a simple linear model to estimate the vehicle energy consumption when navigating a given trajectory. Experimental results on Nessie VII AUV show that the developed system can be used to measure the energy used during the vehicle's operations with a good confidence level. Moreover the proposed estimation model can be trained using a simple calibration procedure each time the environmental conditions change or the vehicle's configuration is altered. The proposed solution is suited to real-time use on low-power embedded devices. The limited use of computation resources mean that this method is well suited for supporting navigation planning and motion control.
{"title":"Low-cost energy measurement and estimation for autonomous underwater vehicles","authors":"V. De Carolis, D. Lane, K. Brown","doi":"10.1109/OCEANS-TAIPEI.2014.6964490","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964490","url":null,"abstract":"This work introduces a low-cost energy measurement method and proposes a simple linear model to estimate the vehicle energy consumption when navigating a given trajectory. Experimental results on Nessie VII AUV show that the developed system can be used to measure the energy used during the vehicle's operations with a good confidence level. Moreover the proposed estimation model can be trained using a simple calibration procedure each time the environmental conditions change or the vehicle's configuration is altered. The proposed solution is suited to real-time use on low-power embedded devices. The limited use of computation resources mean that this method is well suited for supporting navigation planning and motion control.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133456812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964462
M. Arima, Kana Yoshida, H. Tonai
The purpose of this research is to develop a coral monitoring system for the use of underwater vehicles. Reef coral is very sensitive about changes of ocean environment, such as unusual climate changes or increase of crown-of-thorns starfish resulting from the global warming. Coral can thus be an index of ocean environment. It is widely known that some kinds of corals have an inherent characteristic of fluorescence due to `coral fluorescent protein (CFP).' The authors are developing an oceangoing solar-powered underwater glider, named `Tonai60'. The operational depth of the Tonai60 glider is 60m, for ocean environmental monitoring in twilight ocean zone. The Tonai60 glider is equipped with an ocean-environment monitoring data logger `RINKO-Profiler' of JFE Advantech Co., Ltd. and an underwater passive acoustic data logger `A-tag' of Marine Micro Technology Corp. for monitoring marine mammals. Measuring items of RINKO-Profiler are depth, temperature, conductivity, salinity, dissolved oxygen, chlorophyll and turbidity. The glider is also equipped with a coral monitoring system at the forefront of its fuselage. This system consists of a network camera and 3-axis digital compass. Coral can be detected from an image binarised with a certain threshold. This paper deals with a coral monitoring system using ultraviolet LEDs and image analyses.
{"title":"Development of a coral monitoring system for the use of underwater vehicle","authors":"M. Arima, Kana Yoshida, H. Tonai","doi":"10.1109/OCEANS-TAIPEI.2014.6964462","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964462","url":null,"abstract":"The purpose of this research is to develop a coral monitoring system for the use of underwater vehicles. Reef coral is very sensitive about changes of ocean environment, such as unusual climate changes or increase of crown-of-thorns starfish resulting from the global warming. Coral can thus be an index of ocean environment. It is widely known that some kinds of corals have an inherent characteristic of fluorescence due to `coral fluorescent protein (CFP).' The authors are developing an oceangoing solar-powered underwater glider, named `Tonai60'. The operational depth of the Tonai60 glider is 60m, for ocean environmental monitoring in twilight ocean zone. The Tonai60 glider is equipped with an ocean-environment monitoring data logger `RINKO-Profiler' of JFE Advantech Co., Ltd. and an underwater passive acoustic data logger `A-tag' of Marine Micro Technology Corp. for monitoring marine mammals. Measuring items of RINKO-Profiler are depth, temperature, conductivity, salinity, dissolved oxygen, chlorophyll and turbidity. The glider is also equipped with a coral monitoring system at the forefront of its fuselage. This system consists of a network camera and 3-axis digital compass. Coral can be detected from an image binarised with a certain threshold. This paper deals with a coral monitoring system using ultraviolet LEDs and image analyses.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132166394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964391
Zhier Chen, B. Tian, Jiancheng Yu, Aiqun Zhang, J. Zeng
This paper proposes a new approach for the description of three-dimensional motion characteristics of a hybrid-driven underwater glider (HDUG) based on a folding propulsion mechanism. HDUGs have both the high endurance of propeller-driven autonomous underwater vehicles (AUVs) and the high mobility of buoyancy-driven underwater gliders (AUGs). We use Lagrange method build a 3D hydrodynamic model for the hybrid-driven underwater glider. Then we built a hydrodynamic model for the folding propulsion mechanism in different working conditions. And we analyze the motion characteristics of the HDUG in propeller-driven mode, buoyancy-driven mode, and hybrid-driven mode respectively. Simulation results show that in buoyancy-driven mode the HDUG has better gliding performance for propeller blades folding than that for unfolding. The maneuverability of HDUG has been improved due to the folding propulsion mechanism. The HDUG is stable in all expectation state.
{"title":"Study on the motion characteristics in 3D space for a hybrid-driven underwater gilder based on a folding propulsion mechanism","authors":"Zhier Chen, B. Tian, Jiancheng Yu, Aiqun Zhang, J. Zeng","doi":"10.1109/OCEANS-TAIPEI.2014.6964391","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964391","url":null,"abstract":"This paper proposes a new approach for the description of three-dimensional motion characteristics of a hybrid-driven underwater glider (HDUG) based on a folding propulsion mechanism. HDUGs have both the high endurance of propeller-driven autonomous underwater vehicles (AUVs) and the high mobility of buoyancy-driven underwater gliders (AUGs). We use Lagrange method build a 3D hydrodynamic model for the hybrid-driven underwater glider. Then we built a hydrodynamic model for the folding propulsion mechanism in different working conditions. And we analyze the motion characteristics of the HDUG in propeller-driven mode, buoyancy-driven mode, and hybrid-driven mode respectively. Simulation results show that in buoyancy-driven mode the HDUG has better gliding performance for propeller blades folding than that for unfolding. The maneuverability of HDUG has been improved due to the folding propulsion mechanism. The HDUG is stable in all expectation state.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132447365","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Compared with autonomous underwater gliders (AUGs) with fixed wings, gliders with controllable wings have variable hydrodynamics coefficients to achieve better flight performance. In this paper, relations between flight performance and shapes of wings are analyzed. A combined mechanism which contains two sub-mechanisms is presented. It can achieve three kinds of shape changing motions including wings extending and rotating along two axes. With the method of mechanism synthesis, the second sub-mechanism with two degrees of freedom is designed. Rotation vector algorithm is used to establish kinematics models. Forward and inverse solutions of kinematics are obtained. Working space is analyzed. Results show that working space has good continuity and all bars have reasonable lengths. MATLAB is used in inverse solution and getting the control rules of motors. Motion simulation is carried out by ADAMS. Simulation results show that the variation range of wing's length is o to 80mm. The variation range of sweep angle and attack angle is 0 to 70 degrees and 0 to 55 degrees. This design can satisfy needs of controllable AUGs.
{"title":"Mechanism design of controllable wings for autonomous underwater gliders","authors":"Zhijin Yang, Yanhui Wang, Zhiliang Wu, Yuhong Liu, Hongwei Zhang, Shuxin Wang","doi":"10.1109/OCEANS-TAIPEI.2014.6964424","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964424","url":null,"abstract":"Compared with autonomous underwater gliders (AUGs) with fixed wings, gliders with controllable wings have variable hydrodynamics coefficients to achieve better flight performance. In this paper, relations between flight performance and shapes of wings are analyzed. A combined mechanism which contains two sub-mechanisms is presented. It can achieve three kinds of shape changing motions including wings extending and rotating along two axes. With the method of mechanism synthesis, the second sub-mechanism with two degrees of freedom is designed. Rotation vector algorithm is used to establish kinematics models. Forward and inverse solutions of kinematics are obtained. Working space is analyzed. Results show that working space has good continuity and all bars have reasonable lengths. MATLAB is used in inverse solution and getting the control rules of motors. Motion simulation is carried out by ADAMS. Simulation results show that the variation range of wing's length is o to 80mm. The variation range of sweep angle and attack angle is 0 to 70 degrees and 0 to 55 degrees. This design can satisfy needs of controllable AUGs.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"40 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133239542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：