Pub Date : 2000-07-28DOI: 10.1109/SICE.2000.889643
P. Kim, W. Kwon
This paper concerns with a new estimation filter with a finite impulse response (FIR) structure under a least squares (LS) criterion using a forgetting factor. This filter will be called the forgetting least squares estimation (FLSE) FIR filter. The proposed FLSE FIR filter does not require information of the noise covariances as well as the initial state. It will be shown that, in particular case, the proposed FLSE FIR filter can be reduced to the simple least squares estimation FIR filter called the LSE FIR filter. The proposed FLSE FIR filter has also some inherent properties such as time-invariance, unbiasedness and deadbeat. The proposed FLSE FIR filter will be represented in a batch form and then a recursive form, which will be remarkable in the view of computational advantage. From discussions about the choice of a forgetting factor and a horizon length, it will be shown that they can be considered as useful parameters to make the estimation performance of the proposed FLSE FIR filter as good as possible. Via simulations, it will be shown that the proposed FLSE FIR filter consistently outperforms the LSE FIR filter, and can outperform the existing best linear unbiased estimation (BLUE) FIR filter with incorrect noise covariances.
{"title":"Forgetting least squares estimation FIR filters without noise covariance information","authors":"P. Kim, W. Kwon","doi":"10.1109/SICE.2000.889643","DOIUrl":"https://doi.org/10.1109/SICE.2000.889643","url":null,"abstract":"This paper concerns with a new estimation filter with a finite impulse response (FIR) structure under a least squares (LS) criterion using a forgetting factor. This filter will be called the forgetting least squares estimation (FLSE) FIR filter. The proposed FLSE FIR filter does not require information of the noise covariances as well as the initial state. It will be shown that, in particular case, the proposed FLSE FIR filter can be reduced to the simple least squares estimation FIR filter called the LSE FIR filter. The proposed FLSE FIR filter has also some inherent properties such as time-invariance, unbiasedness and deadbeat. The proposed FLSE FIR filter will be represented in a batch form and then a recursive form, which will be remarkable in the view of computational advantage. From discussions about the choice of a forgetting factor and a horizon length, it will be shown that they can be considered as useful parameters to make the estimation performance of the proposed FLSE FIR filter as good as possible. Via simulations, it will be shown that the proposed FLSE FIR filter consistently outperforms the LSE FIR filter, and can outperform the existing best linear unbiased estimation (BLUE) FIR filter with incorrect noise covariances.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"542 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132386376","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 : 2000-07-28DOI: 10.1109/SICE.2000.889674
Y. Sato, T. Nagai, H. Yokoi, T. Mizuno, Y. Kakazu
This paper proposes a method for controlling a flexible SMA (shape memory alloy)-net robot by using a coupled oscillator system. The SMA-net robot consists of 12 actuators that is connected to 9 nodes, and it can change the number of actuators and nodes by connecting and disconnecting of the nodes. Main problem to control SMA-net robot is how to adapt to the changes of the connection. The proposed control method is inspired by the emergent behavior control mechanism of slime mold amoebae and using highly distributed information processing system. The control method enables basic behaviors of movement to attractive stimulus and escape from unattractive stimulus.
{"title":"A study on distributed SMA-net robot control by coupled oscillator system","authors":"Y. Sato, T. Nagai, H. Yokoi, T. Mizuno, Y. Kakazu","doi":"10.1109/SICE.2000.889674","DOIUrl":"https://doi.org/10.1109/SICE.2000.889674","url":null,"abstract":"This paper proposes a method for controlling a flexible SMA (shape memory alloy)-net robot by using a coupled oscillator system. The SMA-net robot consists of 12 actuators that is connected to 9 nodes, and it can change the number of actuators and nodes by connecting and disconnecting of the nodes. Main problem to control SMA-net robot is how to adapt to the changes of the connection. The proposed control method is inspired by the emergent behavior control mechanism of slime mold amoebae and using highly distributed information processing system. The control method enables basic behaviors of movement to attractive stimulus and escape from unattractive stimulus.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134275848","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 : 2000-07-28DOI: 10.1109/SICE.2000.889669
Y. Takahashi, O. Tsubouchi
A wire suspended mechanism with tension control and its application to a bathroom-cleaning robot are presented. A compact and small size robot is designed using the wire suspended mechanism. Four wires suspend the robot main body from four upper corners of a bathroom. Handling the length and tension of the four wires, the robot cleans the wall of the bathroom. Power unit and computer system are placed on a floor separate from the robot main body. It is required to keep the robot main body even with the floor in order to clean the wall. The leveling control of the robot main body using a wire tension control is proposed. The tension-detecting unit proposed in this paper uses a simple lever type mechanism. The validity of the proposed tension control has been confirmed by the experimental and simulation results.
{"title":"Tension control of wire suspended mechanism and application to bathroom cleaning robot","authors":"Y. Takahashi, O. Tsubouchi","doi":"10.1109/SICE.2000.889669","DOIUrl":"https://doi.org/10.1109/SICE.2000.889669","url":null,"abstract":"A wire suspended mechanism with tension control and its application to a bathroom-cleaning robot are presented. A compact and small size robot is designed using the wire suspended mechanism. Four wires suspend the robot main body from four upper corners of a bathroom. Handling the length and tension of the four wires, the robot cleans the wall of the bathroom. Power unit and computer system are placed on a floor separate from the robot main body. It is required to keep the robot main body even with the floor in order to clean the wall. The leveling control of the robot main body using a wire tension control is proposed. The tension-detecting unit proposed in this paper uses a simple lever type mechanism. The validity of the proposed tension control has been confirmed by the experimental and simulation results.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131385147","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 : 2000-07-26DOI: 10.1109/SICE.2000.889646
T. Kondo, A. S. Pandya
The GMDH (group method of data handling)-type neural networks with a feedback loop have been proposed in our early work. The architecture of these networks is generated by using the heuristic self-organization method that is the basic theory of the GMDH method. The number of hidden layers and the number of neurons in the hidden layers are determined so as to minimize the error criterion defined by Akaike's information criterion (AIC). Furthermore, the optimum neurons that can handle the complexity of the nonlinear system are selected from a variety of prototype functions, such as the sigmoid function, the radial basis function, the high order polynomial and the linear function. In this study, the GMDH-type neural networks with a feedback loop is applied to the identification of large-spatial air pollution patterns. The source-receptor matrix that represents a relationship between the multiple air pollution sources and the air pollution concentration at the multiple monitoring stations is accurately identified by using the GMDH-type neural networks with a feedback loop. The identification results of the GMDH-type neural networks are compared with those identified by other identification methods.
在我们的早期工作中，已经提出了带有反馈回路的GMDH(数据处理的群体方法)型神经网络。这些网络的体系结构是利用启发式自组织方法生成的，这是GMDH方法的基本理论。确定隐藏层的数量和隐藏层中的神经元数量，使赤池信息准则(Akaike’s information criterion, AIC)定义的误差准则最小化。在此基础上，从sigmoid函数、径向基函数、高阶多项式和线性函数等多种原型函数中选择出能够处理复杂非线性系统的最优神经元。本研究将带反馈回路的gmdh型神经网络应用于大空间空气污染模式的识别。利用带反馈回路的gmdh型神经网络，准确识别了多个空气污染源与多个监测站空气污染浓度之间的关系的源受体矩阵。将gmdh型神经网络的辨识结果与其他辨识方法的辨识结果进行了比较。
{"title":"GMDH-type neural networks with a feedback loop and their application to the identification of large-spatial air pollution patterns","authors":"T. Kondo, A. S. Pandya","doi":"10.1109/SICE.2000.889646","DOIUrl":"https://doi.org/10.1109/SICE.2000.889646","url":null,"abstract":"The GMDH (group method of data handling)-type neural networks with a feedback loop have been proposed in our early work. The architecture of these networks is generated by using the heuristic self-organization method that is the basic theory of the GMDH method. The number of hidden layers and the number of neurons in the hidden layers are determined so as to minimize the error criterion defined by Akaike's information criterion (AIC). Furthermore, the optimum neurons that can handle the complexity of the nonlinear system are selected from a variety of prototype functions, such as the sigmoid function, the radial basis function, the high order polynomial and the linear function. In this study, the GMDH-type neural networks with a feedback loop is applied to the identification of large-spatial air pollution patterns. The source-receptor matrix that represents a relationship between the multiple air pollution sources and the air pollution concentration at the multiple monitoring stations is accurately identified by using the GMDH-type neural networks with a feedback loop. The identification results of the GMDH-type neural networks are compared with those identified by other identification methods.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"483 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132686826","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 : 2000-07-26DOI: 10.1109/SICE.2000.889671
Y. Takahashi, K. Umehara
The posture control of a moving object by using two mechanical artificial feelers is proposed. The moving object runs along a datum surface by controlling the distance and angle to the datum surface. The two mechanical feelers touch the datum surface as a L-shape guide. The distance and angle to the datum surface are calculated by the angles of the two mechanical feelers. An installation and an adjustment are easy. The posture of the moving object will be controlled by the proposed scheme. This paper describes the concept and design method of the proposed posture control. The validity of the proposed control scheme has been confirmed by the experimental results.
{"title":"Posture control of moving object using two mechanical artificial feelers","authors":"Y. Takahashi, K. Umehara","doi":"10.1109/SICE.2000.889671","DOIUrl":"https://doi.org/10.1109/SICE.2000.889671","url":null,"abstract":"The posture control of a moving object by using two mechanical artificial feelers is proposed. The moving object runs along a datum surface by controlling the distance and angle to the datum surface. The two mechanical feelers touch the datum surface as a L-shape guide. The distance and angle to the datum surface are calculated by the angles of the two mechanical feelers. An installation and an adjustment are easy. The posture of the moving object will be controlled by the proposed scheme. This paper describes the concept and design method of the proposed posture control. The validity of the proposed control scheme has been confirmed by the experimental results.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"34 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124331236","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 : 2000-07-26DOI: 10.1109/SICE.2000.889699
H. Shimizu, H. Mashiba
Studies a signal control method which controls congestion lengths on the two-way traffic arterial systematically. The volume balance is held for each lane at each signalized intersection of arterials for a certain duration. The congestion mechanism which plays an essential role to control congestion lengths is described quantitatively based on the volume balance for each lane at each signalized intersection. The signal control system of the congestion length is described by a nonlinear time-varying discrete dynamic system and synthesized by using the feedback control. A balance control algorithm in which the three signal control parameters consisting of the cycle length, green split and offset are controlled systematically so as to minimize the sum of congestion lengths on the arterial is presented. From the comparison between measurement values and simulation values, it is confined that the balance control algorithm works effectively to reduce the congestion lengths on the arterial.
{"title":"Signal control of two-way traffic arterials","authors":"H. Shimizu, H. Mashiba","doi":"10.1109/SICE.2000.889699","DOIUrl":"https://doi.org/10.1109/SICE.2000.889699","url":null,"abstract":"Studies a signal control method which controls congestion lengths on the two-way traffic arterial systematically. The volume balance is held for each lane at each signalized intersection of arterials for a certain duration. The congestion mechanism which plays an essential role to control congestion lengths is described quantitatively based on the volume balance for each lane at each signalized intersection. The signal control system of the congestion length is described by a nonlinear time-varying discrete dynamic system and synthesized by using the feedback control. A balance control algorithm in which the three signal control parameters consisting of the cycle length, green split and offset are controlled systematically so as to minimize the sum of congestion lengths on the arterial is presented. From the comparison between measurement values and simulation values, it is confined that the balance control algorithm works effectively to reduce the congestion lengths on the arterial.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114378273","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 : 2000-07-26DOI: 10.1109/SICE.2000.889647
K. Kubo
New method of estimating instantaneous frequency from sine wave samples is proposed and studied. The proposed expression is proved to be fully equivalent to the Prony's method. An extended frequency expression, which shows its degeneracy into the proposed expression, is also derived. Toward implementation for processors, estimating errors caused by operations including quantization in samples, approximation of mathematical functions, and finite-length division, are evaluated by numerical experiments.
{"title":"Instantaneous frequency estimation from sine wave samples","authors":"K. Kubo","doi":"10.1109/SICE.2000.889647","DOIUrl":"https://doi.org/10.1109/SICE.2000.889647","url":null,"abstract":"New method of estimating instantaneous frequency from sine wave samples is proposed and studied. The proposed expression is proved to be fully equivalent to the Prony's method. An extended frequency expression, which shows its degeneracy into the proposed expression, is also derived. Toward implementation for processors, estimating errors caused by operations including quantization in samples, approximation of mathematical functions, and finite-length division, are evaluated by numerical experiments.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117166155","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 : 2000-07-26DOI: 10.1109/SICE.2000.889655
Y. Okuyama, F. Takemori
Examines the amplitude dependent behavior of nonlinear feedback systems in a frequency domain. We apply a robust stability condition to a feedback control system containing a nonlinear element in the forward path. In addition, we derive an instability condition for that type of nonlinear feedback system. By using these concepts, we can accurately predict and estimate the existence of a periodic oscillation, that is, a limit cycle in a phase space of the nonlinear dynamical system. Two numerical examples for that type of control system are presented to verify the method.
{"title":"Amplitude dependent analysis and design of nonlinear control systems in a frequency domain","authors":"Y. Okuyama, F. Takemori","doi":"10.1109/SICE.2000.889655","DOIUrl":"https://doi.org/10.1109/SICE.2000.889655","url":null,"abstract":"Examines the amplitude dependent behavior of nonlinear feedback systems in a frequency domain. We apply a robust stability condition to a feedback control system containing a nonlinear element in the forward path. In addition, we derive an instability condition for that type of nonlinear feedback system. By using these concepts, we can accurately predict and estimate the existence of a periodic oscillation, that is, a limit cycle in a phase space of the nonlinear dynamical system. Two numerical examples for that type of control system are presented to verify the method.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129941867","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 : 2000-07-26DOI: 10.1109/SICE.2000.889676
F. Nagata, K. Watanabe
In this paper, a user-friendly teaching system for a polishing robot using a game joystick is proposed. The teaching process is as follows. First, a zigzag path, which depends on both sizes of each object and polishing tool, is prepared. Next, the polishing robot whose control system consists of an impedance model following force controller profiles the object's surface using the zigzag path. In this case, the operator has only to control the orientation of the polishing tool using a usual game joystick. Further, since the impedance model following force controller keeps the contact force to be a desired value, the operator has to give no attention to a sudden overload or noncontact state. Through the above process, the desired trajectory is automatically obtained as the data including both continuous information of the position and its normal vector of the object's surface along the zigzag path. After that, the robot can achieve the polishing task without any assists of the operator by referring to the obtained trajectory. The effectiveness of the proposed method is proved through some experiments on polishing task of a woody material.
{"title":"Teaching system for a polishing robot using a game joystick","authors":"F. Nagata, K. Watanabe","doi":"10.1109/SICE.2000.889676","DOIUrl":"https://doi.org/10.1109/SICE.2000.889676","url":null,"abstract":"In this paper, a user-friendly teaching system for a polishing robot using a game joystick is proposed. The teaching process is as follows. First, a zigzag path, which depends on both sizes of each object and polishing tool, is prepared. Next, the polishing robot whose control system consists of an impedance model following force controller profiles the object's surface using the zigzag path. In this case, the operator has only to control the orientation of the polishing tool using a usual game joystick. Further, since the impedance model following force controller keeps the contact force to be a desired value, the operator has to give no attention to a sudden overload or noncontact state. Through the above process, the desired trajectory is automatically obtained as the data including both continuous information of the position and its normal vector of the object's surface along the zigzag path. After that, the robot can achieve the polishing task without any assists of the operator by referring to the obtained trajectory. The effectiveness of the proposed method is proved through some experiments on polishing task of a woody material.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129159982","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 : 2000-07-26DOI: 10.1109/SICE.2000.889654
T. Fang, J. Choi
Three kinds of maneuvering patterns (waver, pop-up, and high-diver maneuvers) are basically considered for a target motion to evaluate the estimation characteristics of the employed tracking filters according to the maneuvering patterns. The employed tracking filters are the interacting multiple model (IMM) filter, which is known as the most cost-effective estimation scheme, and the other filters stem from it. The simulation results show well the estimation characteristics of the employed filters according to the given maneuvering patterns of a target.
{"title":"Estimation characteristics of tracking filters according to maneuvering patterns","authors":"T. Fang, J. Choi","doi":"10.1109/SICE.2000.889654","DOIUrl":"https://doi.org/10.1109/SICE.2000.889654","url":null,"abstract":"Three kinds of maneuvering patterns (waver, pop-up, and high-diver maneuvers) are basically considered for a target motion to evaluate the estimation characteristics of the employed tracking filters according to the maneuvering patterns. The employed tracking filters are the interacting multiple model (IMM) filter, which is known as the most cost-effective estimation scheme, and the other filters stem from it. The simulation results show well the estimation characteristics of the employed filters according to the given maneuvering patterns of a target.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130426198","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：