CN204279944U - A kind of combined type vertically taking off and landing flyer - Google Patents
A kind of combined type vertically taking off and landing flyer Download PDFInfo
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- CN204279944U CN204279944U CN201420705329.3U CN201420705329U CN204279944U CN 204279944 U CN204279944 U CN 204279944U CN 201420705329 U CN201420705329 U CN 201420705329U CN 204279944 U CN204279944 U CN 204279944U
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Abstract
The utility model relates to a kind of vertically taking off and landing flyer of combined type; Comprising fuselage (2), the rotor/wing (1) of rotor state or fixed-wing state can being switched to, for locking the blocking device of rotor/wing (1); Wherein, this combined type vertically taking off and landing flyer also comprises for the posture adjustment nozzle (3) of gesture stability, air-blast connection pipe (4), driving engine (8) for generation of high pressure air, posture adjustment nozzle (3) is connected with air-blast connection pipe (4), air-blast connection pipe (4) high pressure air for carrying driving engine to produce; The direction of posture adjustment nozzle (3) is configured such that posture adjustment nozzle (3) can produce the direction of the vector component of normal thrust or normal thrust; Two posture adjustment nozzles (3) are had at least to be placed in the left part of aircraft and right part respectively as rolling posture adjusting device, the benefit that this combined type vertically taking off and landing flyer also comprises pitching posture adjusting device such is, by being provided with the posture adjustment nozzle independent of rotor/wing, the flight of lift generation mechanism transition period is controlled more stable, fixed-wing pattern or helicopter mode can be transformed into more safely and smoothly.
Description
Technical field
The utility model relates to a kind of vertically taking off and landing flyer, particularly relates to a kind of vertically taking off and landing flyer of combined type.
Background technology
S-72 type combined type aircraft is the combined type vertical takeoff and landing experimental engine of " the X wing " system of Xi Kesiji development, technology (Rotor/Wing, RW) that this aircraft employs " rotor/wing "." the X wing " is the design as " stall rotor " (stopped rotor) system, the main rotor of four blades can be used for vertical flight as pure helicopter, just stop operating in the air after reaching enough rate front at full speed, fly as the fixed-wing as " X-shaped shape ".In addition, " the X wing " have employed Circulation-Controlled Rotor (circulation control rotor, CCR), relies on CCR rotor from rotor blade trailing edge blowout high pressure air, promotes rotor rotational.
X-50A " dragonfly " unmanned plane of Boeing's development is a kind of combined type vertical takeoff and landing experimental engine, this combined type aircraft is referred to as canard rotor/wing (Canard Rotor/Wing, CRW) aircraft, X-50A " dragonfly " is designed with the wide rotor of similar helicopter, it uses top rotor when taking off just as pure helicopter, when aircraft is flat fly time, rotor is locked on fuselage, it just becomes fixed wing, thus make aircraft both have the same vertical takeoff and landing of helicopter and hovering ability, again can as fixed wing aircraft high speed cruise flight, the airworthiness of two kinds of variety classes aircrafts has not only been merged in this design, improve respective flight envelope, but also there is lower signal characteristic value and good high-speed flight survivability.X-50A " dragonfly " unmanned plane has canard front wing and roomy tailplane, machine top has the rotor/wing of in-line.Under helicopter mode state, rotor/wing rotates under the effect of jet wing tip, produces lift.Rotor/the wing of in-line is equivalent to two-bladed rotor, can complete wave and leading-hysteresis motion with seesaw hinge, so X-50A " dragonfly " unmanned plane is to the compensation of asymmetric lift or conventional.The engine installation of X-50A " dragonfly " unmanned plane is a fanjet, draws high pressure draft, by the wing tip of Pipeline transport to rotor/wing, drive jet wing tip from compressor.Because jet wing tip does not produce anti-twisted power, X-50A " dragonfly " unmanned plane does not have tail-rotor.After reaching certain level speed, canard front wing and tailplane produce enough lift, and rotor/wing pins, and as fixing wing, aircraft proceeds to fixed-wing state.
X-50A " dragonfly " adopts the lockable dual-purpose rotor/wing (stopped rotor) of wide string rigidity propeller hub.The generous rigid rotating wing of tubbiness fundamentally solves the much elongated insoluble problem of flexible rotor blade, but compares with pure helicopter, and hovering and the unconventional manoeuvre performance of these aircrafts are some losses.The topmost technical matters of CRW aircraft is the flight control problem coming from the lift generation mechanism transition period, easily causes control cross-coupled; And fuselage easily receives serious flow perturbation, when superposition occurs the air speed of both direction and wing is still in the rotary work state of rotor, aircraft can produce a nose-up pitching moment being difficult to recover, and can directly cause aircraft out of control.In fact, all " rotor/wing " technology (Rotor/Wing changed in lift generation mechanism, RW) control problem during this mechanism transformation is had, mechanism transformation tens seconds easily, fast also wants more than 10 seconds, change too fast easily cause out of control, simultaneity mechanism conversion also have speed and height restriction, do not think whenever and wherever possible conversion just can change.In fight, this transfer time brings very large puzzlement with the requirement of height, speed to tactical operation.
Summary of the invention
The technical problems to be solved in the utility model is to provide a kind of combined type vertically taking off and landing flyer can changing lift generation mechanism more reposefully.
For solving above-mentioned technical matters, the vertically taking off and landing flyer of a kind of combined type of the utility model comprising fuselage, can switching to the rotor/wing of rotor state or fixed-wing state, for locking the blocking device of rotor/wing; Wherein, this combined type vertically taking off and landing flyer also comprises for the posture adjustment nozzle of gesture stability, air-blast connection pipe, driving engine for generation of high pressure air, posture adjustment nozzle is connected with air-blast connection pipe, the high pressure air of air-blast connection pipe for carrying driving engine to produce; The direction of posture adjustment nozzle is configured such that posture adjustment nozzle can produce the direction of the vector component of normal thrust or normal thrust; Have at least two posture adjustment nozzles to be placed in the left part of aircraft and right part respectively as rolling posture adjusting device, this combined type vertically taking off and landing flyer also comprises pitching posture adjusting device.
Such benefit is, by being provided with independent of rotor/wing (Rotor/Wing, RW) posture adjustment nozzle, makes the flight of lift generation mechanism transition period control more stable, and the posture adjustment nozzle independent of rotor/wing can not cause flight to control cross-linked problem; The control that posture adjustment nozzle is used as roll attitude can make aircraft in the lift generation mechanism transition period, fuselage rolling can not occur and cause the situation of stall, the horizontality of fuselage can be kept, make aircraft can be transformed into fixed-wing pattern or helicopter mode more safely and smoothly.
As the further improvement of the vertically taking off and landing flyer of a kind of combined type of the utility model, pitching posture adjusting device is have at least one to be placed in the front portion of aircraft or the posture adjustment nozzle at rear portion.Such benefit is, by being provided with independent of rotor/wing (Rotor/Wing, RW) posture adjustment nozzle, makes the flight of lift generation mechanism transition period control more stable, and the posture adjustment nozzle independent of rotor/wing can not cause flight to control cross-linked problem; The control that posture adjustment nozzle is used as pitch attitude can make aircraft break away from the posture adjusting device of the complexity such as auto-bank unit, the efficiency of pitching posture adjustment is improved greatly, thus makes aircraft can be transformed into fixed-wing pattern or helicopter mode more safely and smoothly.
As the further improvement of the vertically taking off and landing flyer of a kind of combined type of the utility model, posture adjustment nozzle can also be placed in the end of this combined type vertically taking off and landing flyer.Such benefit is, posture adjustment nozzle is arranged on the end away from aircraft center of gravity, can improve the efficiency of posture adjustment nozzle gesture stability like this.
One as the vertically taking off and landing flyer of above the utility model combined type is improved, and this combined type vertically taking off and landing flyer also comprises fixed wing; Two posture adjustment nozzles being used as rolling posture adjusting device are placed in the left half wing of fixed wing and right half wing respectively.As further improving, this combined type vertically taking off and landing flyer also comprises tailplane, also comprises left part and right part that two posture adjustment nozzles are placed in tailplane respectively, can be used as pitching posture adjusting device.Fixed wing can be connected to the stage casing of fuselage substantially, also can be connected near aircraft center of gravity.The layout of this routine can make aircraft more stable under the state of flight of fixed-wing.
Another kind as the vertically taking off and landing flyer of a kind of combined type of the utility model improves, and this combined type vertically taking off and landing flyer also comprises canard front wing, tailplane, and canard front wing comprises the left front wing, the right front wing, and tailplane comprises port tailplane, starboard tailplane; 4 posture adjustment nozzles are had to be placed in the left front wing, the right front wing, port tailplane, starboard tailplane respectively; Posture adjustment nozzle doubles as rolling and pitching posture adjusting device.As further improving, posture adjustment nozzle can be placed in the cardinal principle taper place of the left front wing, the right front wing, port tailplane, starboard tailplane respectively.Such benefit is, canard configuration can stagger the position of the fixed wings such as rotor/wing and canard front wing, tailplane, and canard front wing, tailplane can not block the downwash flow of rotor/wing, the efficiency of the rotor/wing of raising.Posture adjustment nozzle be placed in respectively the left front wing, the right front wing, port tailplane, starboard tailplane the benefit at cardinal principle taper place be the efficiency of the posture adjustment nozzle gesture stability improved.
As the further improvement of each embodiment above, posture adjustment nozzle is also provided with leaning device, and the air-flow that leaning device makes posture adjustment nozzle spray can tilt towards the left and right side of this combined type vertically taking off and landing flyer.As further improving, posture adjustment nozzle can also be set to can vert between the position of generation horizontal thrust and the position producing normal thrust, and combined type vertically taking off and landing flyer also comprises the reclining device that posture adjustment nozzle is verted.By the air-flow that the posture adjustment nozzle that tilts produces, make posture adjustment nozzle can produce the vector component of normal thrust and left and right horizontal thrust, simultaneously left or right can be utilized to tilt air-flow that each posture adjustment nozzle produces thus carry out horizontal flight, the air-flow that left or right inclination posture adjustment nozzle can also be utilized to produce carries out or strengthens roll unloads.Posture adjustment nozzle is set to make to make posture adjustment nozzle while producing normal thrust, produce the vector component of vertical equity thrust producing the benefit of carrying out verting between the position of horizontal thrust and the position of generation normal thrust, can be undertaken by anteversion and retroversion modulation appearance nozzle or strengthen pitch control subsystem, can also pass through to vert simultaneously each posture adjustment nozzle, carry out vertical equity flight.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Fig. 1 is the posture adjustment nozzle connection diagram of a kind of combined type vertically taking off and landing flyer of the utility model.
Fig. 2 is a kind of embodiment schematic diagram of a kind of combined type of the utility model vertically taking off and landing flyer.
Fig. 3 is the another kind of embodiment schematic diagram of a kind of combined type of the utility model vertically taking off and landing flyer.
Detailed description of the invention
The posture adjustment nozzle connection diagram of a kind of combined type vertically taking off and landing flyer of the utility model as shown in Figure 1, a kind of combined type vertically taking off and landing flyer of the utility model comprising fuselage 2, can switching to the rotor/wing 1 of rotor state or fixed-wing state, for locking the blocking device of rotor/wing 1; Wherein, this combined type vertically taking off and landing flyer also comprises for the posture adjustment nozzle 3 of gesture stability, air-blast connection pipe 4, driving engine 8 for generation of high pressure air, posture adjustment nozzle 3 is connected with air-blast connection pipe 4, the high pressure air of air-blast connection pipe 4 for carrying driving engine to produce; The direction of posture adjustment nozzle 3 is configured such that posture adjustment nozzle 3 can produce the direction of the vector component of normal thrust or normal thrust; Have at least two posture adjustment nozzles 3 to be placed in the left part of aircraft and right part respectively as rolling posture adjusting device, this combined type vertically taking off and landing flyer also comprises pitching posture adjusting device.Pitching posture adjusting device can be placed in the front portion of aircraft or the posture adjustment nozzle 3 at rear portion at least one.The direction of posture adjustment nozzle 3 can be configured such that posture adjustment nozzle 3 can produce the direction of the vector component of normal thrust or normal thrust; Certainly, utilize posture adjustment nozzle 3 to produce anti-lift also to control flight attitude, but posture adjustment nozzle 3 produces anti-lift can make aircraft lose a part of lift, so the direction that the direction that should arrange with posture adjustment nozzle 3 can make posture adjustment nozzle 3 produce the vector component of lift or lift is preferred.Posture adjustment nozzle 3 can also be provided with by-pass valve control, and by-pass valve control is connected with servo acting device, and servo acting device is used for controlling by-pass valve control.
Certainly, other device also can be utilized to be used as pitching posture adjusting device, the auto-bank unit of such as helicopter.Auto-bank unit can be made up of two vital partss: a non rotating ring and a swivel eye.Non rotating ring is installed in rotor shaft, and is connected apart from operating control with total with feathering by a series of pull bar.It can tilt to any direction, also can vertically movement.Swivel eye is installed on non rotating ring by bearing, can rotate together with rotor shaft.Toggle is for ensureing swivel eye synchronous rotary together with blade.Anti-torque arm is then for stoping non rotating ring to rotate.These two rings to tilt and up and down as a cell cube simultaneously.Swivel eye is connected with distance-variable rocker arm by pull bar.Can handle auto-bank unit by cyclic pitch control device makes rotor blade feathering realize the control of pitch attitude and roll attitude, also can control longitudinal velocity and cross velocity; Auto-bank unit synchronous change rotor blade pitch is handled for controlling the vertical speed of helicopter apart from operating control by total.
Driving engine 8 can adopt fanjet or turbojet engine, also the driving engine of other type can be utilized, such as turboaxle motor power connects compressor etc., air-blast connection pipe 4 is utilized to carry the high pressure air of engine interior or compressor generation to posture adjustment nozzle 3, posture adjustment nozzle 3 sprays air-flow and produces thrust, thus realizes the control of attitude.Driving engine 8 can for drive the sustainer, main engine of rotor/wing 1 simultaneously, also can be independently, special service is in the driving engine of posture adjustment nozzle 3.
Circulation-Controlled Rotor (circulation control rotor, CCR) technology can be adopted, rely on CCR rotor from rotor blade trailing edge blowout high pressure air, promote rotor rotational.Namely utilize and draw high pressure draft from compressor, by the wing tip of Pipeline transport to rotor/wing 1, drive jet wing tip, thus drive the rotation of rotor/wing 1.Certainly, the mechanical type of drive that helicopter also can be adopted traditional.
As further improvement, posture adjustment nozzle 3 can be placed in the end of combined type vertically taking off and landing flyer.Such as be placed in left end and the right-hand member of aircraft respectively for the posture adjustment nozzle of rolling posture adjustment, the posture adjustment nozzle for pitching posture adjustment is placed in front end or the rear end of aircraft.By by the setting of posture adjustment nozzle away from aircraft center of gravity, strengthen the control of posture adjustment nozzle 3 for attitude.
A kind of embodiment schematic diagram of a kind of combined type of the utility model vertically taking off and landing flyer as shown in Figure 2, this combined type vertically taking off and landing flyer also comprises fixed wing 5; Two posture adjustment nozzles 3 being used as rolling posture adjusting device are placed in the left half wing of fixed wing 5 and right half wing respectively.Improve further, this combined type vertically taking off and landing flyer also comprises tailplane 6, also comprises two posture adjustment nozzles 3 and is placed in the left part of tailplane 6 respectively and right part is used as pitching posture adjusting device.Fixed wing can be connected to the stage casing of fuselage substantially, also can be connected near aircraft center of gravity.
The another kind of embodiment schematic diagram of a kind of combined type of the utility model vertically taking off and landing flyer as shown in Figure 3, this combined type vertically taking off and landing flyer also comprises canard front wing 7, tailplane 6, canard front wing 7 comprises the left front wing, the right front wing, and tailplane 6 comprises port tailplane, starboard tailplane; 4 posture adjustment nozzles 3 are had to be placed in the left front wing, the right front wing, port tailplane, starboard tailplane respectively; Posture adjustment nozzle 3 doubles as rolling and pitching posture adjusting device.As further improving, posture adjustment nozzle 3 is placed in the cardinal principle taper place of the left front wing, the right front wing, port tailplane, starboard tailplane respectively.
As the further improvement of each embodiment of a kind of combined type vertically taking off and landing flyer of above the utility model, posture adjustment nozzle 3 is also provided with leaning device, and the air-flow that leaning device makes posture adjustment nozzle 3 spray can tilt towards the left and right side of this combined type vertically taking off and landing flyer.
Leaning device can comprise the articulating members and acting device that posture adjustment nozzle 3 is flexibly connected with air-blast connection pipe 4, and posture adjustment nozzle 3 is connected with acting device, and acting device tilts for driving posture adjustment nozzle 3; Articulating members can be rotate the collar, axle sleeve, also can be other device, such as three bearing thrust vector sprays etc.Leaning device also can be control rudder face or water conservancy diversion leaf and acting device; Can be provided with at the air stream outlet of posture adjustment nozzle 3 and control rudder face or water conservancy diversion leaf, the direction of air-flow is changed by inclination control rudder face or water conservancy diversion leaf, be flexibly connected and control rudder face or water conservancy diversion leaf, control rudder face or water conservancy diversion leaf are connected with acting device, and acting device is used for drived control rudder face or water conservancy diversion leaf tilts towards the left and right side of this aircraft.
As further improving, posture adjustment nozzle 3 is set to vert between the position of generation horizontal thrust and the position producing normal thrust, and combined type vertically taking off and landing flyer also comprises the reclining device that posture adjustment nozzle 3 is verted.Reclining device can comprise be flexibly connected posture adjustment nozzle 3 articulating members, make the acting device that verts before and after posture adjustment nozzle 3; Articulating members can be rotate the collar, axle sleeve, also can be other device, such as three bearing thrust vector sprays etc.
The above-described acting device of the utility model, servo acting device can adopt servo-driver (servo drives), rotating driver (rotary actuator), servoactuator etc. any one, servoactuator refers to a kind of actuating unit of flight control system, also known as steering wheel; It can carry out directly (as duplicated control actuator type) or indirectly (as auxiliary elevator type) control according to each controlsurface of the output command of flight control computer to aircraft; Servoactuator has polytype, can adopt electro-hydraulic servo actuator, also can adopt the servoactuator of other type, such as electrodynamic type servoactuator or pneumatic type servoactuator etc.The mounting means of acting device is determined because of the type of acting device, can be directly to connect acting device, also can connect in succession by bent axle, rotating shaft, gear, transmission shaft etc. are inter-agency.
It should be noted last that, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not depart from the spirit and scope of technical solutions of the utility model; Any simple modification done above embodiment according to technical spirit of the present utility model, equivalent variations and modification, all still belong in the scope of technical solutions of the utility model.
Claims (10)
1. a combined type vertically taking off and landing flyer, comprises fuselage (2), can switch to the rotor/wing (1) of rotor state or fixed-wing state, for locking the blocking device of described rotor/wing (1); It is characterized in that: this combined type vertically taking off and landing flyer also comprises the posture adjustment nozzle (3) for gesture stability, the driving engine (8) for generation of high pressure air, air-blast connection pipe (4), described posture adjustment nozzle (3) is connected with described air-blast connection pipe (4), the high pressure air that described air-blast connection pipe (4) produces for carrying described driving engine (8); The direction of described posture adjustment nozzle (3) is configured such that described posture adjustment nozzle (3) can produce the direction of the vector component of normal thrust or normal thrust; Have at least two described posture adjustment nozzles (3) to be placed in the left part of aircraft and right part respectively as rolling posture adjusting device, described combined type vertically taking off and landing flyer also comprises pitching posture adjusting device.
2. combined type vertically taking off and landing flyer according to claim 1, is characterized in that: described pitching posture adjusting device is that at least one is placed in the front portion of aircraft or the posture adjustment nozzle (3) at rear portion.
3. combined type vertically taking off and landing flyer according to claim 1 and 2, is characterized in that: described posture adjustment nozzle (3) is placed in the end of described combined type vertically taking off and landing flyer.
4. combined type vertically taking off and landing flyer according to claim 1, is characterized in that: this combined type vertically taking off and landing flyer also comprises fixed wing (5); Described two posture adjustment nozzles (3) being used as rolling posture adjusting device are placed in the left half wing of described fixed wing (5) and right half wing respectively.
5. combined type vertically taking off and landing flyer according to claim 4, it is characterized in that: this combined type vertically taking off and landing flyer also comprises tailplane (6), also comprise two described posture adjustment nozzles (3) and be placed in the left part of described tailplane (6) and right part respectively as pitching posture adjusting device.
6. combined type vertically taking off and landing flyer according to claim 2, it is characterized in that: this combined type vertically taking off and landing flyer also comprises canard front wing (7), tailplane (6), described canard front wing (7) comprises the left front wing, the right front wing, and described tailplane (6) comprises port tailplane, starboard tailplane; The posture adjustment nozzle (3) described in 4 is had to be placed in the described left front wing, the right front wing, port tailplane, starboard tailplane respectively; Described posture adjustment nozzle (3) doubles as rolling and pitching posture adjusting device.
7. combined type vertically taking off and landing flyer according to claim 6, is characterized in that: described posture adjustment nozzle (3) is placed in the cardinal principle taper place of the described left front wing, the right front wing, port tailplane, starboard tailplane respectively.
8. the arbitrary combined type vertically taking off and landing flyer according to claim 1,2,4,5,6,7, is characterized in that: described posture adjustment nozzle (3) is set to vert between the position of generation horizontal thrust and the position producing normal thrust; Described combined type vertically taking off and landing flyer also comprises the reclining device that described posture adjustment nozzle (3) is verted.
9. the arbitrary combined type vertically taking off and landing flyer according to claim 1,2,4,5,6,7, it is characterized in that: described posture adjustment nozzle (3) is also provided with leaning device, the air-flow that described leaning device makes described posture adjustment nozzle (3) spray can tilt towards the left and right side of described combined type vertically taking off and landing flyer.
10. combined type vertically taking off and landing flyer according to claim 9, it is characterized in that: described posture adjustment nozzle (3) is set to vert between the position of generation horizontal thrust and the position producing normal thrust, and described combined type vertically taking off and landing flyer also comprises the reclining device that described posture adjustment nozzle (3) is verted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420705329.3U CN204279944U (en) | 2014-11-22 | 2014-11-22 | A kind of combined type vertically taking off and landing flyer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420705329.3U CN204279944U (en) | 2014-11-22 | 2014-11-22 | A kind of combined type vertically taking off and landing flyer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016078622A1 (en) * | 2014-11-22 | 2016-05-26 | 吴建伟 | Combined vertical take-off and landing aircraft |
| CN105836109A (en) * | 2016-04-08 | 2016-08-10 | 王金海 | An air compressing automatically balancing propeller used for aircrafts and ships |
| CN107933894A (en) * | 2016-10-13 | 2018-04-20 | 赵蓝婷 | A kind of devices and methods therefor for improving aircraft flight safety |
| CN112158325A (en) * | 2020-09-30 | 2021-01-01 | 浙江大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof |
-
2014
- 2014-11-22 CN CN201420705329.3U patent/CN204279944U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016078622A1 (en) * | 2014-11-22 | 2016-05-26 | 吴建伟 | Combined vertical take-off and landing aircraft |
| CN105836109A (en) * | 2016-04-08 | 2016-08-10 | 王金海 | An air compressing automatically balancing propeller used for aircrafts and ships |
| CN105836109B (en) * | 2016-04-08 | 2018-01-16 | 王金海 | Aircraft and ship compressed air autobalance propeller |
| CN107933894A (en) * | 2016-10-13 | 2018-04-20 | 赵蓝婷 | A kind of devices and methods therefor for improving aircraft flight safety |
| CN112158325A (en) * | 2020-09-30 | 2021-01-01 | 浙江大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof |
| WO2022068022A1 (en) * | 2020-09-30 | 2022-04-07 | 浙江大学 | Tailsitter-type vertical take-off and landing unmanned aerial vehicle and control method therefor |
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Granted publication date: 20150422 Termination date: 20181122 |