Abstract: A method including displaying, in a graphical user interface (GUI) of a computer, a map of a plurality of airport taxiways. The method also includes receiving a start point on the map. The method also includes receiving an endpoint on the map. The method also includes generating, automatically, a path for an aircraft to take to navigate the plurality of taxiways from the start point to the endpoint. The method also includes superimposing the path on the map in the GUI.

Abstract: A method for supporting sharing of travel history of travelers in airports includes receiving, by a trusted entity of the distributed ledger system, a registration request from a traveler via a traveler application. The registration request provides personal information of the traveler to the trusted entity. The method further includes generating, by the trusted entity, a public key for the traveler using an identity-based encryption mechanism and sending, from the trusted entity to the global identity blockchain, a registration transaction with respect to the traveler. The registration transaction comprises the public key of the traveler. The method further includes recording a travel history that includes all travel tickets of the traveler, wherein a Merkle tree of all the travel tickets of the traveler is generated. The Merkle tree has a Merkle root, and the Merkle root of the Merkle tree is stored in the global identity blockchain.

Abstract: A method for box regularized particle filtering, used to predict a state of a system, is modified such that it can be implemented in a parallel manner. The modification concerns a step of redistributing state intervals and in particular a determination of a number of sub-intervals intended to replace each state interval. The method is particularly suitable for being implemented in a navigation system with measurement correlation, for example an aircraft navigation system using ground-correlation, and for being executed by a field-programmable or fixed-gate array circuit.

Abstract: An aircraft system having a first set of components for performing a function of the aircraft system, and a second, alternative, set of components for performing the function of the aircraft system. The aircraft system has and a controller configured to receive scenario data indicative of a scenario during which the function of the aircraft system is to be performed, and, where each of the first and second sets of components are operational, the controller is configured to select between the first or the second set of components to perform the aircraft system function during the scenario based on the received scenario data. The controller is configured to control the selected set of components to perform the function during the scenario.

Abstract: A path reception means 81 receives path evaluation data including each of paths of a plurality of moving bodies and an evaluation value of a business operator for each of the paths. A multi-path optimization means 82 performs optimization based on a utility function that represents adequacy of a business operator for a path learned based on the path evaluation data such that a number of the moving bodies existing in an identical area is a predetermined number or less and determines each of the paths of the plurality of moving bodies to adjust the paths of the plurality of moving bodies. A path transmission means 83 transmits each optimized path.

Abstract: A flight management system for unmanned aerial vehicles (UAVs), in which the UAV is equipped for cellular fourth generation (4G) flight control. The UAV caries on-board a 4G modem, an antenna connected to the modem for providing for downlink wireless RF. A computer is connected to the modem. A 4G infrastructure to support sending via uplink and receiving via downlink from and to the UAV. The infrastructure further includes 4G base stations capable of communicating with the UAV along its flight path. An antenna in the base station is capable of supporting a downlink to the UAV. A control centre accepts navigation related data from the uplink. In addition, the control centre further includes a connection to the 4G infrastructure for obtaining downlinked data. A computer for calculating location of the UAV using navigation data from the downlink.

Abstract: A flight management apparatus includes a condition information acquisition unit that acquires condition information including a weather condition for flight of a flight apparatus, the weather condition being associated with a position provided on a flight path or in a flight range in which the flight apparatus is scheduled to fly, a weather information acquisition unit that acquires weather information including weather at a current position at which the flight apparatus is positioned, or a scheduled position at which the flight apparatus is scheduled to be positioned, a determination unit that determines whether or not the weather satisfies the weather condition associated with the current position or the scheduled position in the condition information, and an output unit that outputs information corresponding to a determination result of the determination unit.

Abstract: Methods and systems are provided for displaying visualizations of a vehicle's capability with respect to an input query corresponding to a prospective action to modify operation of the vehicle. One method involves identifying one or more input query parameters, obtaining current status information for the vehicle, identifying one or more performance constraints for the vehicle, and determining a capability envelope for the vehicle for satisfying the one or more input query parameters for the prospective action based at least in part on the current status information and the one or more performance constraints. The capability envelope includes a plurality of potential trajectories for the vehicle different from a reference trajectory for the vehicle. The method provides graphical indicia of the one or more input query parameters and the capability envelope with respect to the reference trajectory on a navigational map display.

Abstract: A system and method for autonomously controlling a set of unmanned aerial vehicles is provided. The autonomous ground control system may include a communications module and a fleet configuration module in communication with one or more user interface applications. The autonomous ground control system may receive one or more flight commands and generate fleet configuration instructions and safety information. The autonomous ground control system may provide the fleet configuration instructions to each unmanned aerial vehicle in the set in order to carry out the fleet configuration instructions in real time.

Abstract: A device for flight data prediction includes a memory, a communication interface, and one or more processors. The memory is configured to store a departure airport map. The communication interface is configured to receive location data for a plurality of aircraft expected to arrive at or depart from a departure airport during a particular time range. The one or more processors are configured to predict, based on the location data and the departure airport map, a taxi duration or a fuel usage of a first aircraft of the plurality of aircraft. The one or more processors are also configured to generate an output based on the taxi duration or the fuel usage.

Abstract: In one aspect, a system for charging an aircraft can include a robotic charging device, and a computing system configured to obtain data associated with a transportation itinerary and energy parameter(s) of the aircraft. The data associated with the transportation itinerary can be indicative of an aircraft landing facility at which the aircraft is to be located. The computing system can determine (e.g., select) a robotic charging device from among a plurality of robotic charging devices for charging the aircraft based on the transportation itinerary data and energy parameter(s) of the aircraft; determine charging parameter(s) for the robotic charging device based on the transportation itinerary data; and communicate command instruction(s) for the robotic charging device to charge the aircraft according to the charging parameter(s). The robotic charging device can be configured to automatically connect with a charging area of the aircraft for charging a battery onboard the aircraft.

Abstract: The present disclosure provides embodiments that include storing an alert database defining a plurality of alert events for a vehicle where the plurality of alert events indicating deviations from a desired operation of the vehicle, detecting an alert event of one of the plurality of alert events by monitoring an output of a sensor in the vehicle, searching the alert database to identify a crew response for the alert event, identifying a current operational phase of the vehicle, contextualizing, based on the current operational phase, the alert event to assign an alert level to the alert event, and outputting, for display, the alert event.

Abstract: Included are a 2D processing unit 11 that generates 2D latitude and longitude information by dimensionally compressing a feature vector generated from target information, and a map generation unit 12 that generates a 2D map in which a plurality of pieces of target information is plotted on a 2D plane based on a plurality of pieces of latitude and longitude information generated for a plurality of pieces of target information.

Abstract: The present disclosure provides for holding pattern detection and management by identifying from flight data for an aircraft that the aircraft has performed a first turn, followed by a leg traverse, and followed by a second turn in a direction circuitous to the first turn and indicating that the aircraft is in a holding pattern and/or identifying from flight data that the aircraft has passed within a predefined distance of a fixpoint and in response to identifying that the aircraft has performed a turn in a known direction associated with a historical holding pattern charted from the fixpoint, indicating that the aircraft is in a holding pattern.

Abstract: A communication system includes a traffic relay (TR) device for locating unmanned traffic in a controlled airspace. The TR device comprises one or more processors configured to perform the step of receive a status message from an unmanned aerial vehicle (UAV). The status message provides identification and location information of the UAV. The one or more processors are also configured to perform the step of generate a warning message for communication to at least one manned aerial vehicle (MAV) or a manned traffic manager (MTM) device that is communicatively connected to the at least one MAV. The warning message is based on a comparison of the location of the UAV to a designated airspace.

Abstract: Systems and methods for autonomous taxi route planning for an aircraft. Clearance communication is received from a ground control station. A planning problem is generated from the clearance communication and sent to a route planner. The route planner receives the planning problem and plans an executable taxi route. Planning the executable taxi route can include generating a complete breadth first search graph from a start pose to a destination, pruning the graph, minimizing the graph, refining the graph, and extracting the shortest path from the graph.

Abstract: A method and apparatus dynamically update customized integrated terminal approach procedure interfaces based on changing real-time events associated with aircraft and airports. A dynamic approach procedures application extracts and analyzes terminal approach data, aircraft data, airport data and real-time weather data to automatically generate an integrated terminal approach interface. The integrated terminal approach interface presents dynamic digital approach information, the interface including a map interface and a procedure side bar displaying route-related procedures data to assist pilots with selecting a route into the destination airport. As conditions change, displayed terminal approach data within the map and procedure side bar is updated and route recommendations are refined, to assist a user in selecting destination airports, routes, and relevant approach procedures.

Abstract: [Object] To provide a control device which enables a flight vehicle device to obtain a highly precise image. [Solution] Provided is the control device including an illuminating control unit configured to adjust a light amount of an illuminating device according to an inclination of a fuselage of a flight vehicle device that has an imaging device configured to photograph a photographing target and the illuminating device configured to illuminate the photographing target.

Abstract: An electronic device for monitoring at least one avionics software application capable of being executed on a platform hosting an operating system offering services, the electronic device comprising an acquisition module for acquiring respective values of first and second counters of calls sent by the monitored software application to one or more services of the operating system, the first counter being incremented upon each successful call, and the second counter being incremented upon each failed call, a comparison module for comparing the respective values of the first and second counters with respective first and second thresholds, and a generation module for generating a warning signal in the event of detection of abnormal behavior of the software application, corresponding to the first counter being less than the first threshold during a predefined period and/or to the second counter being greater than the second threshold.

Abstract: In an unmanned aerial vehicle system S, a target position Pt to which UAV 1a is headed among a plurality of UAVs 1 is determined on the basis of a position of each of a plurality of ports 2, and the UAV 1a is controlled to fly toward the target position Pt. And then, a port 2x to be used for landing of the UAV 1a is determined on the basis of a reservation status of each of the plurality of ports 2 by the other UAV 1 different from the UAV 1a among the plurality of the UAVs 1 while the UAV 1a is flying toward the target position Pt, and the UAV 1a is controlled to fly toward the determined port 2x.

Abstract: Implementations of the present disclosure are generally directed to activating features in power machines. More particularly, implementations of the present disclosure are directed to remote activation of features in power machines.

Abstract: A system and method for facilitating autonomous satellite level communications is disclosed. The method includes receiving a request from a user to transmit satellite information captured by a source satellite from the source satellite to a destination node via one or more intermediate satellites. The method further includes receiving one or more input parameters and determining a plurality of states corresponding to the source satellite and the one or more intermediate satellites. Further, the method includes generating a plurality of actions and an expected reward value for each of the plurality of actions. Furthermore, the method includes determining an optimal action among the plurality of actions and outputting the optimal action to the source satellite and the one or more intermediate satellites, one or more user devices or a combination thereof for transmission of the satellite information from the source satellite to the destination node.

Abstract: In a radar apparatus of the present invention, a ghost deciding unit decides whether or not a first condition that a first object candidate and a second object candidate are in the same direction with respect to the transmission/reception unit is satisfied, and then decides whether or not a second condition that, of the first and second object candidates, a reflection power from the first object candidate located farther away from the transmission/reception unit is smaller than a reflection power from the second object candidate located closer to the transmission/reception unit is satisfied. The ghost deciding unit decides that only when the first condition and the second condition are satisfied, the first object candidate is a ghost.

Abstract: An airspace network optimization method based on a flight normality target is capable of comprehensively considering spatial and temporal distribution of national air traffic demands, a service capability of an airspace network and a capacity increase limit of each airspace unit according to the flight normality optimization target on the basis of carrying out pre-analysis on a flight operation efficiency under a current airspace service capability, to position a key problem airspace and generate a capacity expansion suggestion of the related airspace; and aims at improving the flight operation efficiency by expanding the airspace service capability, and providing technical support for a user to carry out analysis and optimization work of national airspace network problems at a strategic level.

Abstract: A method of communicating messages is provided. The method comprises receiving a message from a first station; determining whether the message requires clearance from a second station; displaying clearance intended message determined to require clearance from the second station to a consumer of the message; automatically translating the clearance intended message to a format understood by the second station; and routing the translated message to the second station upon selection of the clearance intended message by the consumer of the message.

Abstract: A system and method are provided that direct a real time global view with images of an aircraft's entire exterior environment from an external monitoring system located on an aircraft equipped with landing gear wheel-mounted electric taxi drive systems powering ground travel to an integrated head-up display worn by a pilot driving the aircraft with the electric taxi drive systems within an airport ramp area. The real time global view and images produced by the monitoring system are communicated to the integrated head-up display in the form of an actual picture of the ramp area environment exterior to the aircraft viewable by the pilot with the head-up display in real time as the pilot maneuvers the aircraft within the ramp area with the electric taxi systems. The pilot can change the images viewed in the head-up display by changing head position.

Abstract: Air traffic control systems and methods include communicating with passenger drones via one or more cell towers associated with the one or more wireless networks, wherein the passenger drones each include hardware and antennas adapted to communicate to the one or more cell towers, and wherein each passenger drone has a unique identifier in the air traffic control system; obtaining data associated with flight of each of the passenger drones based on the communicating; and managing the flight of each of the passenger drones based on the obtained data and performance of one or more functions associated with air traffic control, wherein each passenger drone is configured to constrain flight based on coverage of the one or more cell towers such that each passenger drone maintains communication on the one or more wireless networks.

Abstract: A method of providing an indication identifying a flight as including or not including a flight path deviation, the method includes receiving flight data associated with a flight, the flight data comprising a plurality of coordinates indicating a location of an aircraft at a plurality of times during the flight. The method also includes classifying a plurality of time intervals of the flight by applying a convolutional neural network algorithm to subsets of the plurality coordinates to determine that the time interval includes or does not include at least one flight path deviation. The method also includes identifying the flight as including at least one flight path deviation if at least one of the time intervals is classified as including the at least one flight path deviation and providing an indication identifying the flight as including at least one flight path deviation to a second computing system in response to identifying the flight as including at least one flight path deviation.

Abstract: An electric aircraft with flight trajectory planning. The electric aircraft includes a sensor. The sensor is coupled to the electric aircraft. The sensor is configured to detect a plurality of weather measurements. The electric aircraft includes a processor. The processor is communicatively connected to the sensor. The processor is configured to receive, from the sensor, a weather measurement of the plurality of weather measurements. The processor is configured to receive, from a user, a destination datum and a desired altitude datum. The processor is configured to determine an optimal trajectory of the electric aircraft as a function of the destination datum, weather datum, and altitude datum.

Abstract: In an example, a method determines a first controllable vehicle traveling along a mitigation road segment of a roadway and determines a control lane in the mitigation road segment. The control lane includes the first controllable vehicle and is impedible by the first controllable vehicle. The method determines a first open lane in the mitigation road segment and applies a target mitigation speed to the first controllable vehicle in the control lane. The first open lane is adjacent to the control lane in the mitigation road segment and the target mitigation speed is based on a traffic state of the first open lane. The target mitigation speed adjusts a traffic stream that flows through the first open lane to mitigate traffic congestion located downstream of the mitigation road segment.

Abstract: A flight management system for unmanned aerial vehicles (UAVS), in which the UAV is equipped for cellular fourth generation (4G) flight control. The UAV caches on-board a 4G modem, an antenna connected to the modern for providing for downlink wireless RF. A computer is connected to the modem. A 4G infrastructure to support sending via uplink and receiving via downlink from and to the UAV. The infrastructure further includes 4G base stations capable of communicating with the UAV along its flight path. An antenna in the base station is capable of supporting a downlink to the UAV. A control centre accepts navigation related data from the uplink. In addition, the control centre further includes a connection to the 4G Infrastructure for obtaining downlinked data. A computer for calculating location of the UAV using navigation data from the downlink.

Abstract: A method and system allowing fully autonomous automatic take-off using only images captured by cameras on the aircraft and avionics data. The system includes an image capture device on the aircraft to take a stream of images of the runway, image processing modules to estimate, on the basis of the streams of images, a preliminary current position of the aircraft on the runway and to assign a preliminary confidence index to the estimate. A data consolidation module can determine a relevant current position of the aircraft on the runway by consolidating data originating from the image processing modules with inertial data to correct the estimate of the preliminary current position and determine a relevant confidence index using a current speed of the wheels of the aircraft to refine the preliminary confidence index. A flight control computer can control and guide aircraft take-off.

Abstract: Techniques for estimating the impact of new operational conditions in a baseline air traffic scenario are described. For at least one flight, embodiments infer an aircraft intent that fits corresponding flight track data. A reconstructed trajectory is computed using the inferred aircraft intent. For at least one flight in an alternative air traffic scenario, an aircraft intent that fits new operational conditions is generated. The new operational conditions include a new air traffic management operation and a new air traffic procedure, and the generated aircraft intent conforms to the new air traffic management operation and the new air traffic procedure. Embodiments compute a generated trajectory of the at least one flight in the alternative air traffic scenario using the generated aircraft intent and compute trajectory-based analytics on each computed trajectory of the baseline and alternative air traffic scenarios using a set of metrics.

Abstract: A system and methods for enhancing operator situational awareness are disclosed. For example, one method includes monitoring a plurality of radio transmissions associated with a plurality of vehicles in a first traffic flow pattern, monitoring a second traffic flow pattern in a vicinity of a vehicle of the plurality of vehicles, monitoring at least one weather value for a destination site for the plurality of vehicles, proposing a destination approach for the vehicle in response to the monitoring, evaluating an impact of the proposed destination approach on an existing travel path for the vehicle, and generating a second travel path for the vehicle in response to the evaluating.

Abstract: An air traffic control system is described that comprises at least two aircraft radios and a ground system. The ground system has an operator device and at least one ground radio station configured to communicate with the at least two aircraft radios. The ground system has a simultaneous transmission detection unit that is configured to detect at least two aircraft radio signals received simultaneously by the at least one ground radio station. The at least one ground radio station is configured to forward information with regard to the simultaneous transmission detection of at least two aircraft radio signals to at least one of the at least two aircraft radios. Furthermore, a method of simultaneous call transmission handling is described.

Abstract: A management system comprises a movement management unit that communicates via a communication device with a plurality of moving bodies including an autonomous moving body provided with an autonomous control unit for moving autonomously, and that manages the movement of the plurality of moving bodies. The movement management unit comprises a priority/subordination determination unit that determines the degree of priority/subordination relating to the respective movements of the plurality of moving bodies on the basis of individual information of the moving bodies.

Abstract: A method for detecting unmanned aerial vehicles (UAV) includes detecting an unknown flying object in a monitored zone of air space. An image of the detected unknown flying object is captured. The captured image is analyzed to classify the detected unknown flying object. A determination is made, based on the analyzed image, whether the detected unknown flying object comprises a UAV.

Abstract: Systems, computer-implemented methods, and computer program products to facilitate conditional parallel coordinates in automated artificial intelligence with constraints are provided. According to an embodiment, a system can comprise a memory that stores computer executable components and a processor that executes the computer executable components stored in the memory. The computer executable components can comprise a visualization component that renders a pipeline constraint as a constraint axis having constraint scores of machine learning pipelines in a conditional parallel coordinates visualization. The computer executable components can further comprise a model generation component that generates a machine learning model based on the constraint scores of the machine learning pipelines.

Abstract: A method for planning flight trajectories for at least two aircraft aiming to subsequently approach a predefined reference point, in particular a predefined destination, wherein each aircraft travels along a flight route according to an individual flight trajectory, such that a first aircraft travels along a first flight route according to a first flight trajectory and a second aircraft travels along a second flight route according to a second flight trajectory, wherein at least the second flight trajectory is set or adjusted such that at least one predetermined minimum separation between the two aircraft approaching the predefined destination according to their respective flight trajectories is ensured and the predetermined minimum separation is ensured throughout the whole flight trajectories by setting or adjusting an adjustable trajectory parameter (?) of the first or second flight trajectory.

Abstract: [Object] To provide a control device which enables a flight vehicle device to obtain a highly precise image. [Solution] Provided is the control device including an illuminating control unit configured to adjust a light amount of an illuminating device according to an inclination of a body of a flight vehicle device that has an imaging device configured to photograph a photographing target and the illuminating device configured to illuminate the photographing target.

Abstract: A location processing device includes a selection member configured to select multiple flight vehicles to form a flight group. The location processing device also includes a determination member configured to determine first relative location information of the multiple flight vehicles of the flight group while instructing an operation device configured to control the multiple flight vehicles to perform operations.

Abstract: A ground collision avoidance method in an ownship vehicle is disclosed. The method includes: retrieving position measurements for the ownship vehicle and for a dynamic obstacle; retrieving mapping data from an airport map database that includes coordinate data for airport travel pathways; adjusting a position measurement for the ownship vehicle and a position measurement for the dynamic obstacle based on coordinate data retrieved from the airport map database and historical aircraft movement data; predicting a series of future positions for the ownship vehicle that are constrained by airport surface operation rules; predicting a series of future positions for the dynamic obstacle that are constrained by airport surface operation rules; calculating whether a potential collision is imminent; and causing a collision alert to be displayed when the processor has determined that a potential collision between the ownship vehicle and the dynamic obstacle is imminent.

Abstract: A flight aiding method for an unmanned aerial vehicle includes receiving a receiving, from a mobile terminal that controls the unmanned aerial vehicle, a flight aiding instruction to execute a flight aiding function. The flight aiding method further includes in response to receiving the flight aiding instruction, controlling, regardless of a head direction that a head of the unmanned aerial vehicle is pointing, the unmanned aerial vehicle to fly by controlling both a velocity of the unmanned aerial vehicle along a reference direction and a velocity of the unmanned aerial vehicle perpendicular to the reference direction. The reference direction is defined for the unmanned aerial vehicle based on a position of a point of interest and a current location of the unmanned aerial vehicle.

Abstract: Systems and methods for autonomous taxi route execution for an aircraft. Clearance communication is received from a ground control station. A plurality of objects is generated from the clearance communication. Next, a context data structure representing a planned taxi route is generated. Last, the planned taxi route is executed.

Abstract: Operation history information on every aircraft can be collected, and efficiency in collection of the aircraft operation history information can be improved. The present invention includes: an image acquisition unit 11 configured to acquire an image G obtained by imaging a route R or A2; an image-type model identification unit 21 configured to identify a model of an aircraft P in the route R or A2 based on appearance data of an aircraft Q in the image G acquired by the image acquisition unit 11 and aircraft appearance samples previously prescribed for respective models; and an operation history storage unit 45 configured to store image-derived model information identified by the image-type model identification unit 21.

Abstract: An electric aircraft with flight trajectory planning. The electric aircraft includes a sensor. The sensor is coupled to the electric aircraft. The sensor is configured to detect a plurality of weather measurements. The electric aircraft includes a processor. The processor is communicatively connected to the sensor. The processor is configured to receive, from the sensor, a weather measurement of the plurality of weather measurements. The processor is configured to receive, from a user, a destination datum and a desired altitude datum. The processor is configured to determine an optimal trajectory of the electric aircraft as a function of the destination datum, weather datum, and altitude datum.

Abstract: Methods and systems for modifying a flight plan to implement micro-shortcuts. The system identifies a segment of interest within an initial flight plan, the segment of interest being a section to consider for a micro-shortcut. The system determined a geographical environment associated with the segment of interest and determines a relevant air traffic control (ATC) for the geographical environment. The system requests, from the relevant ATC, an amount of deviation from the initial flight plan for the segment of interest. Upon obtaining permission for the amount of deviation from the initial flight plan for the segment of interest, the system calculates a shortest path (i.e., a micro-shortcut) for the segment of interest. The system modifies the initial flight plan and commands the FMS to fly the shortest path for the segment of interest.

Abstract: A method is provided that includes receiving reflections of a plurality of radar signals from an environment by a radar system. The method also includes determining, by a radar processing system, that two received radar reflections correspond to an object in the environment based on a location of the object, where at least one of the two received radar reflections had a reflection in the environment off of a secondary reflecting object. The method further includes revising a tracking for the object.

Abstract: In an embodiment, a drone-coupled UE determines whether the drone-coupled UE is engaged in a flying state, and transmits a message to a network component of a terrestrial wireless communication subscriber network that indicates a result of the determining. The network component receives the message from the drone-coupled UE. In an embodiment, a network component of a terrestrial wireless communication subscriber network determines whether the drone-coupled UE is engaged in a flying state based on the message from the drone-coupled UE. The network component then applies protocols based on the determining.

Abstract: A sector situation (SS) evaluation framework is based on knowledge transfer and is specifically applicable for small-training-sample environment. The SS evaluation framework is able to effectively mine knowledge hidden within the samples of both target and non-target sectors, and properly handle the integration between the knowledge derived from different sectors. This framework includes three main steps: (1) sufficiently mine the knowledge within the samples of the target sector using the strategies of multi-factor subset generation and multi-base evaluator construction, and build target base evaluators; (2) precisely learn the knowledge in the samples of the non-target sectors using similar strategies for the target sector, together with a sample transformation, and build non-target base evaluators; and (3) efficiently integrate the target and non-target base evaluators based on evaluation confidence analysis of those base evaluators.