Pub Date : 2013-07-29DOI: 10.1109/INDIN.2013.6622904
I. Muscalagiu, Cosmina Illes, H. Popa
Multi-robot systems consist in a set of autonomous mobile robots which collaborate to perform a mission. Exploration of an unknown environment is one of the major applications of Multi-Robot Systems. Few works have proposed multi-robot coordination algorithms to accomplish exploration missions based on multi-agent techniques using distributed constraints. Modelling and simulation are essential tools in many areas of science and engineering, including computer science. The purpose of this article is to present an open-source solution for implementation and evaluation of the multi-robot exploration problem in NetLogo, for a great number of agents, model that can be run on a cluster of computers. Such a tool allows the use of various search techniques and also the evaluation and analysis of performances of the techniques for the case of the multi-robot exploration problem.
{"title":"Large scale multi-agent-based simulation using NetLogo for the multi-robot exploration problem","authors":"I. Muscalagiu, Cosmina Illes, H. Popa","doi":"10.1109/INDIN.2013.6622904","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622904","url":null,"abstract":"Multi-robot systems consist in a set of autonomous mobile robots which collaborate to perform a mission. Exploration of an unknown environment is one of the major applications of Multi-Robot Systems. Few works have proposed multi-robot coordination algorithms to accomplish exploration missions based on multi-agent techniques using distributed constraints. Modelling and simulation are essential tools in many areas of science and engineering, including computer science. The purpose of this article is to present an open-source solution for implementation and evaluation of the multi-robot exploration problem in NetLogo, for a great number of agents, model that can be run on a cluster of computers. Such a tool allows the use of various search techniques and also the evaluation and analysis of performances of the techniques for the case of the multi-robot exploration problem.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85349619","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622933
A. Kolesnikow, R. Behrens, C. Westerkamp, H. Kremer, M. Rafrafi, Nicolas Colin
This paper presents the NDT (Non Destructive Testing) concept and process in combination with the OMA system (Online Maintenance Assistance) for remote service support. The system is used to support complex maintenance processes by assistance from remote experts in an online video conference with integration to inspection workflow and devices. The system operates on Commercial of the Shelf (COTS) hardware and in standard Web Browsers. It allows flexible integration into the enterprise IT e.g. in existing role and authentication concepts and is compliant to standard enterprise security regulations.
{"title":"Remote engineering solutions for industrial maintenance","authors":"A. Kolesnikow, R. Behrens, C. Westerkamp, H. Kremer, M. Rafrafi, Nicolas Colin","doi":"10.1109/INDIN.2013.6622933","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622933","url":null,"abstract":"This paper presents the NDT (Non Destructive Testing) concept and process in combination with the OMA system (Online Maintenance Assistance) for remote service support. The system is used to support complex maintenance processes by assistance from remote experts in an online video conference with integration to inspection workflow and devices. The system operates on Commercial of the Shelf (COTS) hardware and in standard Web Browsers. It allows flexible integration into the enterprise IT e.g. in existing role and authentication concepts and is compliant to standard enterprise security regulations.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85648493","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 : 2013-07-29DOI: 10.1109/indin.2013.6622986
T. Truong, G. Hattenberger, C. Ronfle-Nadaud
The goal of the paper is to perform a cooperation between multiple Unmanned Aerial Vehicles via a mission planner. This mission planner is a generic one which could be used not only for UAV domain but also for other human-machine systems such as maritime, automotive and manned aerial vehicle (MAV). It is a completed mission planner including the high level task planning and low level of collision avoidance. Our first scenario shows the cooperation between UAVs during doing tasks when the number of UAVs is greater than that of tasks. The later scenarios will be the cooperation between two types of UAV: fixed-wing aircraft and rotor-craft for different types of task. This mission planner contributes a new module to both simulation platform and real demonstrator of relevant projects.
{"title":"The cooperation between Unmanned Aerial Vehicles using a mission planner","authors":"T. Truong, G. Hattenberger, C. Ronfle-Nadaud","doi":"10.1109/indin.2013.6622986","DOIUrl":"https://doi.org/10.1109/indin.2013.6622986","url":null,"abstract":"The goal of the paper is to perform a cooperation between multiple Unmanned Aerial Vehicles via a mission planner. This mission planner is a generic one which could be used not only for UAV domain but also for other human-machine systems such as maritime, automotive and manned aerial vehicle (MAV). It is a completed mission planner including the high level task planning and low level of collision avoidance. Our first scenario shows the cooperation between UAVs during doing tasks when the number of UAVs is greater than that of tasks. The later scenarios will be the cooperation between two types of UAV: fixed-wing aircraft and rotor-craft for different types of task. This mission planner contributes a new module to both simulation platform and real demonstrator of relevant projects.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80012300","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622926
M. Blank, S. Lehnhoff
The energy system is due to substantial changes by reason of an ongoing decentralization of power supply. A challenge will be to provide ancillary services by distributed units since they are volatile regarding their power feed-in and hard to predict. This paper presents a method that allows for the evaluation of how reliable distributed units can participate in the provision of ancillary service products. This method can be used in order to assess unit coalitions with respect to their reliability.
{"title":"Assessing reliability of distributed units with respect to the provision of ancillary services","authors":"M. Blank, S. Lehnhoff","doi":"10.1109/INDIN.2013.6622926","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622926","url":null,"abstract":"The energy system is due to substantial changes by reason of an ongoing decentralization of power supply. A challenge will be to provide ancillary services by distributed units since they are volatile regarding their power feed-in and hard to predict. This paper presents a method that allows for the evaluation of how reliable distributed units can participate in the provision of ancillary service products. This method can be used in order to assess unit coalitions with respect to their reliability.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80140884","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622955
P. Baburaj, B. Bandyopadhyay
In this paper, a suboptimal flow controller design for connection-oriented communication network via reduced model is proposed. Network is modeled as an nth order discrete system whose available bandwidth variations at the bottlenecked link act as an exogenous unmatched disturbance. The proposed scheme is characterized by a simple first order design which is applied to nth order systems through aggregation. Effect of bandwidth variation at the congested node which is modeled as a disturbance, is well accounted in controller design with widely adopted delay-based disturbance estimation. Performance of the proposed scheme is validated through Matlab and ns simulations. Simulation results shows that all the proposed reduced order control scheme tracks the desired queue length effectively under the adverse influence of unmatched disturbances.
{"title":"Discrete-time flow control for connection-oriented communication network via reduced model","authors":"P. Baburaj, B. Bandyopadhyay","doi":"10.1109/INDIN.2013.6622955","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622955","url":null,"abstract":"In this paper, a suboptimal flow controller design for connection-oriented communication network via reduced model is proposed. Network is modeled as an nth order discrete system whose available bandwidth variations at the bottlenecked link act as an exogenous unmatched disturbance. The proposed scheme is characterized by a simple first order design which is applied to nth order systems through aggregation. Effect of bandwidth variation at the congested node which is modeled as a disturbance, is well accounted in controller design with widely adopted delay-based disturbance estimation. Performance of the proposed scheme is validated through Matlab and ns simulations. Simulation results shows that all the proposed reduced order control scheme tracks the desired queue length effectively under the adverse influence of unmatched disturbances.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78129406","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622975
Z. Stephenson, J. Abella, T. Vardanega
Probabilistic Timing Analysis (PTA) in general and its measurement-based variant called MBPTA in particular have potential for mitigating the problems that impair current worstcase execution time (WCET) analysis techniques whether as in industrial practice or in state-of-the-art research. MBPTA can compute tight upper bounds on the execution time of software programs, which it expresses as probabilistic exceedance functions, without needing much information on the hardware and software internals of the system. To exploit this capability in practice, some reasoned argument must be constructed to explain why the method is suitable. This paper details our experience with the construction of such an argument, and in particular shows how the structure of the argument allows it to be easily configured for the needs of different industries.
{"title":"Supporting industrial use of probabilistic timing analysis with explicit argumentation","authors":"Z. Stephenson, J. Abella, T. Vardanega","doi":"10.1109/INDIN.2013.6622975","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622975","url":null,"abstract":"Probabilistic Timing Analysis (PTA) in general and its measurement-based variant called MBPTA in particular have potential for mitigating the problems that impair current worstcase execution time (WCET) analysis techniques whether as in industrial practice or in state-of-the-art research. MBPTA can compute tight upper bounds on the execution time of software programs, which it expresses as probabilistic exceedance functions, without needing much information on the hardware and software internals of the system. To exploit this capability in practice, some reasoned argument must be constructed to explain why the method is suitable. This paper details our experience with the construction of such an argument, and in particular shows how the structure of the argument allows it to be easily configured for the needs of different industries.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90520294","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622978
Oscar Neira, A. N. Lee, J. Lastra, Roberto S. Camp
Adaptive Human Machine Interfaces (HMI) are used to improve the interaction between users and interfaces by taking into account the state of the user and the system. This paper describes a solution that enables the generation of adaptable HMIs applying web application technologies in the Android Operating Systems. The solution is based on an Adaptive Human Machine Interface Engine, and in this article one of the main components, called HMI Builder, is presented. The HMI Builder uses different technologies to retrieve information from the system in order to generate adaptive elements in the HMI. This approach is a flexible solution that can be incorporated in most of the Android devices in the market; including smartphones and tablets. The proposed approach was implemented and tested in a manufacturing scenario by creating adaptive interfaces for different types of user based on the user roles, tasks, the state of the system and the context. Finally, the technical implementation details, result and future work are presented and discussed.
自适应人机界面(HMI)通过考虑用户和系统的状态来改善用户和界面之间的交互。本文介绍了一种在Android操作系统下应用web应用技术生成适应性强的人机界面的解决方案。该解决方案基于自适应人机界面引擎(Adaptive Human Machine Interface Engine)，本文介绍了其中一个主要组件HMI Builder。HMI Builder使用不同的技术从系统中检索信息，以便在HMI中生成自适应元素。这种方法是一种灵活的解决方案，适用于市场上大多数Android设备;包括智能手机和平板电脑。通过基于用户角色、任务、系统状态和上下文为不同类型的用户创建自适应接口，在制造场景中实现并测试了所提出的方法。最后，对该系统的技术实现细节、取得的成果和今后的工作进行了介绍和讨论。
{"title":"A builder for Adaptable Human Machine Interfaces for mobile devices","authors":"Oscar Neira, A. N. Lee, J. Lastra, Roberto S. Camp","doi":"10.1109/INDIN.2013.6622978","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622978","url":null,"abstract":"Adaptive Human Machine Interfaces (HMI) are used to improve the interaction between users and interfaces by taking into account the state of the user and the system. This paper describes a solution that enables the generation of adaptable HMIs applying web application technologies in the Android Operating Systems. The solution is based on an Adaptive Human Machine Interface Engine, and in this article one of the main components, called HMI Builder, is presented. The HMI Builder uses different technologies to retrieve information from the system in order to generate adaptive elements in the HMI. This approach is a flexible solution that can be incorporated in most of the Android devices in the market; including smartphones and tablets. The proposed approach was implemented and tested in a manufacturing scenario by creating adaptive interfaces for different types of user based on the user roles, tasks, the state of the system and the context. Finally, the technical implementation details, result and future work are presented and discussed.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90734218","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622913
L. Camarinha-Matos, P. Macedo, Ana-Inês Oliveira, Filipa Ferrada, H. Afsarmanesh
The notion of service-enhanced product offers new perspectives for value creation and differentiation in manufacturing. In the case of complex and highly customized products, the inclusion of business services that add value to the product typically require the collaboration of multiple stakeholders. In order to facilitate the co-creation and delivery of composite services, a proper collaborative environment is needed. This paper introduces a cloud-based collaborative environment, designed to support a mix of collaborative enterprise networks involved in the solar energy sector.
{"title":"Collaborative environment for service-enhanced products","authors":"L. Camarinha-Matos, P. Macedo, Ana-Inês Oliveira, Filipa Ferrada, H. Afsarmanesh","doi":"10.1109/INDIN.2013.6622913","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622913","url":null,"abstract":"The notion of service-enhanced product offers new perspectives for value creation and differentiation in manufacturing. In the case of complex and highly customized products, the inclusion of business services that add value to the product typically require the collaboration of multiple stakeholders. In order to facilitate the co-creation and delivery of composite services, a proper collaborative environment is needed. This paper introduces a cloud-based collaborative environment, designed to support a mix of collaborative enterprise networks involved in the solar energy sector.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91540330","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622948
Herbert Prähofer, Alois Zoitl
Behavioral event contracts constrain the ordering of input events received and possible output events returned from a software component. Interface automata as introduced by de Alfaro and Henzinger are a light-weight formalism that allow capturing such temporal aspects of software component interfaces and the associated theory allows answering such fundamental questions as interface compatibility, component composition, and refinement. The work presented in this paper applies the results from the theory of interface automata in a hierarchical design and verification approach for IEC 61499 automation solutions. IEC 61499 adapters and service sequences are used for specification of rich behavioral component interfaces. In this approach, components are built hierarchically in master-slave arrangements where each component defines a provided interface contract for its upper-level and specifies required interface contracts for its subcomponents. Verification methods allows verifying if a component uses all its subcomponents according to their contracts, allows checking if a concrete component satisfies a given contract, and allows computing an abstraction of a component representing its externally visible behavior.
{"title":"Verification of hierarchical IEC 61499 component systems with behavioral event contracts","authors":"Herbert Prähofer, Alois Zoitl","doi":"10.1109/INDIN.2013.6622948","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622948","url":null,"abstract":"Behavioral event contracts constrain the ordering of input events received and possible output events returned from a software component. Interface automata as introduced by de Alfaro and Henzinger are a light-weight formalism that allow capturing such temporal aspects of software component interfaces and the associated theory allows answering such fundamental questions as interface compatibility, component composition, and refinement. The work presented in this paper applies the results from the theory of interface automata in a hierarchical design and verification approach for IEC 61499 automation solutions. IEC 61499 adapters and service sequences are used for specification of rich behavioral component interfaces. In this approach, components are built hierarchically in master-slave arrangements where each component defines a provided interface contract for its upper-level and specifies required interface contracts for its subcomponents. Verification methods allows verifying if a component uses all its subcomponents according to their contracts, allows checking if a concrete component satisfies a given contract, and allows computing an abstraction of a component representing its externally visible behavior.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87552448","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6889113
A. Carvalho, Francisco Afonsox, P. Cardoso, J. Cabral, Mongkol Ekpanyapongy, Sergio Montenegroz, A. Tavares
As real-time embedded systems become overwhelmingly complex, hypervisor-based architectures are increasingly being used. Hypervisor-based architectures can support such level of complexity and, at the same time, provide real-time performance while reducing the size, cost and time-to-market of such systems. Modern processors provide cache facilities which can increase their performance substantially. Similarly, in hypervisor-based architectures, by providing virtual machines (VM) with such facilities a significant improvement in their performance can be obtained as we conclude in this work. This article presents a methodology to fully virtualize the cache facilities of the IBM PowerPC 405-S. To the best of our knowledge, this is the first time cache virtualization is openly described. A careful mapping between a VM's cache-related configuration and the processor's configuration is done, accompanied by the emulation of 5 cache-related privileged instructions. Even though some issues have been detected, a simple solution is provided for all of them. The results show that cache virtualization works with minimal virtualization overhead.
{"title":"Cache full-virtualization for the PowerPC 405-S","authors":"A. Carvalho, Francisco Afonsox, P. Cardoso, J. Cabral, Mongkol Ekpanyapongy, Sergio Montenegroz, A. Tavares","doi":"10.1109/INDIN.2013.6889113","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6889113","url":null,"abstract":"As real-time embedded systems become overwhelmingly complex, hypervisor-based architectures are increasingly being used. Hypervisor-based architectures can support such level of complexity and, at the same time, provide real-time performance while reducing the size, cost and time-to-market of such systems. Modern processors provide cache facilities which can increase their performance substantially. Similarly, in hypervisor-based architectures, by providing virtual machines (VM) with such facilities a significant improvement in their performance can be obtained as we conclude in this work. This article presents a methodology to fully virtualize the cache facilities of the IBM PowerPC 405-S. To the best of our knowledge, this is the first time cache virtualization is openly described. A careful mapping between a VM's cache-related configuration and the processor's configuration is done, accompanied by the emulation of 5 cache-related privileged instructions. Even though some issues have been detected, a simple solution is provided for all of them. The results show that cache virtualization works with minimal virtualization overhead.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82696524","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：