A code generation and design verification method and device for aircraft landing gear model

Abstract

The present invention discloses a method and device for code generation and design verification of an aircraft landing gear model, the method comprising: constructing a metamodel instance of an aircraft landing gear based on a KARM language; dragging the metamodel instance of the aircraft landing gear in a modeling tool based on physical properties to construct an aircraft landing gear model; generating a calculation code for calculating functional indicators for evaluating the aircraft landing gear model based on the aircraft landing gear model and a script template for calculating indicators of the aircraft landing gear model; importing the calculation code corresponding to the generated aircraft landing gear model into a related solver to calculate and verify the functional indicators of the designed aircraft landing gear model. The method can realize automatic or semi-automatic conversion from a system model to other heterogeneous data files, thereby improving the traceability and consistency of data between the system model and other data files during the design process.

Description

Technical Field

[0001] The present invention relates to the field of aircraft landing gear engineering, and in particular to a code generation and design verification method and device for an aircraft landing gear model. Background Art

[0002] With the continuous development of complex systems, complex products and systems have shown multidisciplinary, collaborative, and parallel trends in the design process. Model-based Systems Engineering (MBSE) supports formalization, modeling, design, analysis, and verification in the entire life cycle of product and system development through models, providing solutions to the development challenges of complex systems.

[0003] The Chinese invention patent with application publication number CN110321580A discloses a method for verifying, optimizing and evaluating the top-level system design scheme based on MBSE. The method uses a certain aircraft as a representative to design and analyze the top-level system. The method is based on the system engineering theory of the model and uses the SysML modeling language to graphically construct the demand model, function model and structure model respectively. By analyzing the above method, the problems to be solved in the current technology are found:

[0004] (1) Some tools only support a single modeling language, which is not conducive to the design and development of complex systems: SysML is an object-oriented software modeling language that is extremely outstanding in terms of expressiveness and coverage. However, as the complexity of products increases, a single domain-specific modeling language is difficult to complete the unified description of complex systems. It is difficult to construct conversion rules for any modeling language to be used. Therefore, a modeling language conversion method is needed to support subsequent verification and iteration of the design.

[0005] (2) Lack of quantitative evaluation methods for indicator design: All the verification methods mentioned above are based on manual judgment and manual calculation through models, which is a low efficiency for indicator design verification. SysML is a semi-formal language that cannot accurately describe models and indicators. Therefore, an accurate and reliable design verification method can improve the design efficiency of complex systems and help designers verify whether the system design meets the needs of various stakeholders. Summary of the invention

[0006] In view of this, the present invention provides a method and device for code generation and design verification of an aircraft landing gear model, which can solve the technical problem of difficulty in data transmission for modeling and index verification of aircraft landing gear in the prior art.

[0007] In order to solve the above technical problems, the present invention is implemented as follows.

[0008] A code generation and design verification method for an aircraft landing gear model, comprising:

[0009] Step S1: constructing a metamodel instance of an aircraft landing gear based on the KARM language, wherein the metamodel instance categories of the aircraft landing gear include a landing gear diagram metamodel instance, a landing gear object metamodel instance, a landing gear relationship metamodel instance, a landing gear point metamodel instance, a landing gear attribute metamodel instance, and a landing gear role metamodel instance;

[0010] Step S2: obtaining physical properties of the aircraft landing gear to be modeled; dragging a metamodel instance of the aircraft landing gear in a modeling tool based on the physical properties to build an aircraft landing gear model;

[0011] Step S3: Based on the aircraft landing gear model and the script template for calculating the index of the aircraft landing gear model, generating a calculation code for calculating the functional index of evaluating the aircraft landing gear model; wherein the script template has multiple types, which respectively correspond to various types of metamodel instances and / or a combination of several metamodel instances;

[0012] Step S4: Based on the generated calculation code corresponding to the aircraft landing gear model, the calculation code is imported into a relevant solver to calculate and verify the functional indicators of the designed aircraft landing gear model.

[0013] Preferably, the landing gear graphic metamodel instance is a graphical element required for system architecture design in the process of aircraft landing gear development, the landing gear object metamodel instance is used to characterize the physical components of the aircraft landing gear, the landing gear relationship metamodel instance is used to characterize the information transfer relationship between the actual components of the aircraft landing gear, the landing gear point metamodel instance is used to characterize the interface type and interaction objects of the interaction between the actual components of the aircraft landing gear, the landing gear attribute metamodel instance is an abstract description of the characteristic characteristics possessed by the landing gear object metamodel instance and the relationship metamodel, and the landing gear role metamodel instance is used to describe the information transfer relationship between different components of the physical actual product of the landing gear through what type and method the input and output are.

[0014] Preferably, the step S3 comprises:

[0015] Step S31: determining a model instance of an aircraft landing gear to be verified, and determining a view type of the model instance, wherein the model instance is a concrete instantiation of a submodel of the aircraft landing gear model; the submodel is one or more of a landing gear graphic metamodel instance, a landing gear object metamodel instance, a landing gear relationship metamodel instance, a landing gear point metamodel instance, a landing gear attribute metamodel instance, and a landing gear role metamodel instance;

[0016] Step S32: determining the name of the code block corresponding to the automation code to be generated based on a preset naming rule and the view type;

[0017] Step S33: determining the metamodel instance category and / or the several metamodel instance categories to which the model instance of the aircraft landing gear to be verified belongs, and based on the metamodel category and / or the several metamodel instance categories and the data definition of the attributes in the model instance of the aircraft landing gear, obtaining data related to the metamodel category and / or the several metamodel instance categories in the model instance of the aircraft landing gear as a parameter input variable of the code block;

[0018] Step S34: determining whether the model instance of the aircraft landing gear to be verified has a constraint relationship assigned by the index calculation formula with other model instances of the aircraft landing gear; if so, obtaining data having a constraint relationship with the model instance of the aircraft landing gear as a constraint input variable of the code block; proceeding to step S35; otherwise, proceeding to step S35;

[0019] Step S35: Determine the script template corresponding to the meta-model instance category and / or several meta-model instance categories to which the model instance of the aircraft landing gear to be verified belongs, and obtain calculation rules from the script template as the code for calculation, the code block is composed of the parameter input variables, constraint input variables and the code encapsulation for calculation; the code block includes the calculation code for calculating the functional indicators for evaluating the aircraft landing gear model.

[0020] Preferably, the script template includes the variable definitions required for calculating and evaluating the functional indicators of the aircraft landing gear model and the calculation formula of the functional indicators, encapsulates the parameter input variables, constraint input variables and the code for calculation, uses the parameter input variables as the independent variables of the calculation formula of the functional indicators, and uses the calculation result of the calculation formula as the dependent variable.

[0021] Preferably, the relevant solver is a code module capable of parsing and calculating the code block.

[0022] The present invention provides a code generation and design verification device for an aircraft landing gear model, the device comprising:

[0023] A metamodel instance construction module: configured to construct a metamodel instance of an aircraft landing gear based on the KARM language, wherein the metamodel instance category of the aircraft landing gear includes a landing gear diagram metamodel instance, a landing gear object metamodel instance, a landing gear relationship metamodel instance, a landing gear point metamodel instance, a landing gear attribute metamodel instance, and a landing gear role metamodel instance;

[0024] An aircraft landing gear model building module: configured to obtain physical properties of an aircraft landing gear to be modeled; and to drag a metamodel instance of the aircraft landing gear in a modeling tool based on the physical properties to build an aircraft landing gear model;

[0025] A code generation module: configured to generate a calculation code for calculating a functional index for evaluating the aircraft landing gear model based on the aircraft landing gear model and a script template for calculating an index of the aircraft landing gear model; wherein the script template has multiple types, which respectively correspond to various types of metamodel instances and / or a combination of several metamodel instances;

[0026] Functional verification module: configured to import the calculation code corresponding to the generated aircraft landing gear model into a related solver to perform calculation verification on the functional indicators of the designed aircraft landing gear model.

[0027] The present invention provides a computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for a processor to load and execute the method as described above.

[0028] An electronic device provided by the present invention is characterized in that the electronic device comprises:

[0029] A processor, which is used to execute multiple instructions;

[0030] A memory for storing a plurality of instructions;

[0031] The plurality of instructions are used to be stored by the memory and loaded and executed by the processor to implement the method as described above.

[0032] Beneficial effects:

[0033] (1) The present invention is developed based on the GOPPRR modeling theory and can support the establishment of multi-framework models without being limited to models in a certain field.

[0034] (2) The code generation of the present invention obtains information from the source model through model query, and then converts the obtained information into target code or text. Code generation can realize automatic or semi-automatic conversion from system models to other heterogeneous data files, thereby improving the traceability and consistency of data between system models and other data files during the design process.

[0035] (3) The present invention realizes static verification calculation of performance indicators / technical indicators of complex systems based on the code generation method. Compared with the previous method of using a joint simulation interface, the system architecture model and the mechanism calculation of performance indicators / technical indicators are closed-loop integrated, which has strong scalability, high reusability, and low additional software development cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the flow of the code generation and design verification method for the aircraft landing gear model provided by the present invention;

[0037] Figure 2 A schematic diagram of the framework of the code generation and design verification method for the aircraft landing gear model provided by the present invention;

[0038] Figure 3 A schematic diagram of a verification method for a model instance of an aircraft landing gear corresponding to a landing gear braking scenario provided by the present invention;

[0039] Figure 4 A schematic diagram of the aircraft landing gear model attribute settings provided by the present invention;

[0040] Figure 5 A schematic diagram of the structure of a code generation and design verification device for an aircraft landing gear model provided by the present invention. DETAILED DESCRIPTION

[0041] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0042] like Figure 1-Figure 2 As shown, the present invention proposes a code generation and design verification method for an aircraft landing gear model, comprising the following steps:

[0043] Step S1: constructing a metamodel instance of an aircraft landing gear based on the KARM language, wherein the metamodel instance categories of the aircraft landing gear include a landing gear diagram metamodel instance, a landing gear object metamodel instance, a landing gear relationship metamodel instance, a landing gear point metamodel instance, a landing gear attribute metamodel instance, and a landing gear role metamodel instance;

[0044] Step S2: obtaining physical properties of the aircraft landing gear to be modeled; dragging a metamodel instance of the aircraft landing gear in a modeling tool based on the physical properties to build an aircraft landing gear model;

[0045] Step S3: Based on the aircraft landing gear model and the script template for calculating the index of the aircraft landing gear model, generating a calculation code for calculating the functional index of evaluating the aircraft landing gear model; wherein the script template has multiple types, which respectively correspond to various types of metamodel instances and / or a combination of several metamodel instances;

[0046] Step S4: Based on the generated calculation code corresponding to the aircraft landing gear model, the calculation code is imported into a relevant solver to calculate and verify the functional indicators of the designed aircraft landing gear model.

[0047] The landing gear metamodel instance is a graphical element required for system architecture design during the development of aircraft landing gear. The landing gear object metamodel instance is used to characterize the physical components of the aircraft landing gear. The landing gear relationship metamodel instance is used to characterize the information transfer relationship between the actual components of the aircraft landing gear. The landing gear point metamodel instance is used to characterize the interface types and interactive objects between the actual components of the aircraft landing gear. The landing gear attribute metamodel instance is an abstract description of the characteristic characteristics of the landing gear object metamodel instance and the relationship metamodel. The landing gear role metamodel instance is used to describe the information transfer relationship between different components of the physical actual product of the landing gear through what type and method the input and output are.

[0048] The model instance of the landing gear is a concrete instantiation of the landing gear graph metamodel instance, the landing gear object metamodel instance, the landing gear relationship metamodel instance, the landing gear point metamodel instance, the landing gear attribute metamodel instance, and the landing gear role metamodel instance, and can characterize the landing gear system from the perspectives of function, behavior, and composition.

[0049] The step S3 comprises:

[0050] Step S31: determining a model instance of an aircraft landing gear to be verified, and determining a view type of the model instance, wherein the model instance is a concrete instantiation of a submodel of the aircraft landing gear model; the submodel is one or more of a landing gear graphic metamodel instance, a landing gear object metamodel instance, a landing gear relationship metamodel instance, a landing gear point metamodel instance, a landing gear attribute metamodel instance, and a landing gear role metamodel instance;

[0051] Step S32: determining the name of the code block corresponding to the automation code to be generated based on a preset naming rule and the view type;

[0052] Step S33: determining the metamodel instance category and / or the several metamodel instance categories to which the model instance of the aircraft landing gear to be verified belongs, and based on the metamodel category and / or the several metamodel instance categories and the data definition of the attributes in the model instance of the aircraft landing gear, obtaining data related to the metamodel category and / or the several metamodel instance categories in the model instance of the aircraft landing gear as a parameter input variable of the code block;

[0053] Step S34: determining whether the model instance of the aircraft landing gear to be verified has a constraint relationship assigned by the index calculation formula with other model instances of the aircraft landing gear; if so, obtaining data having a constraint relationship with the model instance of the aircraft landing gear as a constraint input variable of the code block; proceeding to step S35; otherwise, proceeding to step S35;

[0054] Step S35: Determine the script template corresponding to the meta-model instance category and / or several meta-model instance categories to which the model instance of the aircraft landing gear to be verified belongs, and obtain calculation rules from the script template as the code for calculation, the code block is composed of the parameter input variables, constraint input variables and the code encapsulation for calculation; the code block includes the calculation code for calculating the functional indicators for evaluating the aircraft landing gear model.

[0055] Furthermore, the script template includes variable definitions required for calculating and evaluating the functional indicators of the aircraft landing gear model and calculation formulas for the functional indicators. The parameter input variables, constraint input variables and codes for calculation are encapsulated, and the parameter input variables are used as independent variables of the calculation formula for the functional indicators, and the calculation results of the calculation formula are used as dependent variables.

[0056] In the step S4, the related solver is a code module capable of parsing and calculating the code block.

[0057] Furthermore, corresponding code blocks are generated for model instances corresponding to all sub-models constituting the aircraft landing gear model, and functional indicators of the designed aircraft landing gear model are calculated and verified through relevant solvers.

[0058] like Figure 3-Figure 4 As shown, the information about the objects and interactions involved in the landing gear braking scene is shown.

[0059] Among them, force interaction and signal interaction are set as relational metamodels, signal ports and force ports are set as point metamodels (the input and output relationships of the relational metamodel are bound to the role metamodel), and physical ground, landing gear, physical loads, etc. are set as object metamodels. Figure 4 The mass, landing gear layout, wheel braking torque, and wheel rolling radius are the attribute metamodels set. By assigning values ​​to the attributes of the metamodel, the metamodel can be instantiated into a model. For example, in the left main landing gear object metamodel, the braking torque, rolling radius, mass and other parameters are assigned values, such as mass = 100kg, wheel braking torque = 1000N*m, and wheel rolling radius = 0.1m.

[0060] In the left main landing gear object meta-model, the braking torque, rolling radius, mass and other parameters are assigned values, such as mass = 100kg, wheel braking torque = 1000N*m, wheel rolling radius = 0.1m.

[0061] Define constraint: a = 2*M / m*R

[0062] In the constraints, a represents the braking deceleration rate, M represents the wheel braking torque, m represents the mass, and R represents the wheel rolling radius.

[0063] Through code generation, the corresponding attribute values ​​can be extracted from the left main landing gear object metamodel and the following calculation code can be generated:

[0064] m=100

[0065] M=1600

[0066] R=0.1

[0067] A=M*2 / (m*R)

[0068] Println("a=",a)

[0069] In the present invention, the corresponding functions are implemented through specific modules, and the rule-based grammar that supports code generation based on graph pattern matching is extended to KARMA. The extended abstract concept of code generation is as follows Figure 2 As shown. The code generation module (CodeGenerationModule) is used to declare the code generation unit of the KARMA model. Global variable declaration (GlobalVariableDecl) and local variable declaration (LocalVarDeclModule) are used to declare global variables and local variables respectively. Variables of data types such as Int, Real, String, Boolean and File are supported. The rule module (RuleModule) is used to define code generation rules identified by keyword rules. Its specific syntax is shown below.

[0070]

[0071] The query module (QueryModules) is used to describe the model query part in code generation. It is divided into two parts: source model declaration (SourceModelDecl) and pattern declaration (PatternDecl). The source model declaration is used to describe the source model that needs to be transformed, which is identified by the keyword in. The pattern declaration can define a model pattern starting with the keyword from. The model element declaration (modelElementDecl) is used to declare the OPPR (object, point, attribute, role) instances present in the model pattern. The binary relation statement (binaryRelationStatement) is used to describe the relationship between OPPR instances, such as the "include" relationship between Object instances and Point instances. The cardinality statement (cardinalityStatement) is used to define the cardinality of an element, that is, the number of occurrences of certain OPPR instances in the model pattern. The constraint statement (constraintStatement) is used to describe the model pattern constraints composed of Boolean expressions in the model pattern. The transformation module (TransformationModule) describes the transformation part, which is divided into two parts: call template statement (CallTemplateStatement) and subsequent operation (PostOperation). The call template statement is used to generate target code from the information obtained in the model query part by calling the user-defined template. Subsequent operations are used to describe subsequent operations on the generated code, such as adding the code to a file.

[0072] In this embodiment, the step S4: based on the calculation code corresponding to the generated aircraft landing gear model, importing it into a relevant solver, and calculating and verifying the functional indicators of the designed aircraft landing gear model, includes:

[0073] The code generation text is compiled using the Metagraph tool's code generation compiler. The template engine generates the target code through the user-defined template and passes the model information into the calculation script. The generated code (i.e., the calculation script) can be returned to the MetaGraph workbench and the user-specified file. Call the Julia solver to run the computable language code (i.e., the calculation script), and the solution results will be output on the console page. Designers can match the solution results with the design requirements. If the calculation results of the indicator design do not meet the design requirements, the designer can quickly respond to the iterative design plan. Compared with the traditional manual calculation method, in this indicator verification process, users can customize the code generation rules and templates according to the solver they need. The process is automated and highly scalable.

[0074] The present invention also provides a code generation and design verification device for an aircraft landing gear model, such as Figure 3 As shown, the device comprises:

[0075] A metamodel instance construction module: configured to construct a metamodel instance of an aircraft landing gear based on the KARM language, wherein the metamodel instance category of the aircraft landing gear includes a landing gear diagram metamodel instance, a landing gear object metamodel instance, a landing gear relationship metamodel instance, a landing gear point metamodel instance, a landing gear attribute metamodel instance, and a landing gear role metamodel instance;

[0076] An aircraft landing gear model building module: configured to obtain physical properties of an aircraft landing gear to be modeled; and to drag a metamodel instance of the aircraft landing gear in a modeling tool based on the physical properties to build an aircraft landing gear model;

[0077] A code generation module: configured to generate a calculation code for calculating a functional index for evaluating the aircraft landing gear model based on the aircraft landing gear model and a script template for calculating an index of the aircraft landing gear model; wherein the script template has multiple types, which respectively correspond to various types of metamodel instances and / or a combination of several metamodel instances;

[0078] Functional verification module: configured to import the calculation code corresponding to the generated aircraft landing gear model into a related solver to perform calculation verification on the functional indicators of the designed aircraft landing gear model.

[0079] The above specific embodiments only describe the design principle of the present invention. The shapes and names of the components in the description may be different and are not limited. Therefore, those skilled in the art in the field of the present invention may modify or replace the technical solutions recorded in the above embodiments; and these modifications and replacements do not deviate from the creative purpose and technical solutions of the present invention and should all fall within the protection scope of the present invention.

Claims

1. A code generation and design verification method for an aircraft landing gear model, characterized in that: include: Step S1: constructing a metamodel instance of an aircraft landing gear based on the KARM language, wherein the metamodel instance categories of the aircraft landing gear include a landing gear diagram metamodel instance, a landing gear object metamodel instance, a landing gear relationship metamodel instance, a landing gear point metamodel instance, a landing gear attribute metamodel instance, and a landing gear role metamodel instance; Step S2: obtaining physical properties of the aircraft landing gear to be modeled; dragging a metamodel instance of the aircraft landing gear in a modeling tool based on the physical properties to build an aircraft landing gear model; Step S3: Based on the aircraft landing gear model and the script template for calculating the functional index of the aircraft landing gear model, generate a calculation code for calculating the functional index of the aircraft landing gear model; wherein the script template has multiple types, corresponding to various types of metamodel instances and / or a combination of several metamodel instances respectively; specifically including: Step S31: determining a model instance of an aircraft landing gear to be verified, and determining a view type of the model instance, wherein the model instance is a concrete instantiation of a submodel of the aircraft landing gear model; the submodel is one or more of a landing gear graphic metamodel instance, a landing gear object metamodel instance, a landing gear relationship metamodel instance, a landing gear point metamodel instance, a landing gear attribute metamodel instance, and a landing gear role metamodel instance; Step S32: determining the name of the code block corresponding to the automation code to be generated based on a preset naming rule and the view type; Step S33: determining the metamodel instance category and / or the several metamodel instance categories to which the model instance of the aircraft landing gear to be verified belongs, and based on the metamodel category and / or the several metamodel instance categories and the data definition of the attributes in the model instance of the aircraft landing gear, obtaining data related to the metamodel category and / or the several metamodel instance categories in the model instance of the aircraft landing gear as a parameter input variable of the code block; Step S34: Determine whether the model instance of the aircraft landing gear to be verified has a constraint relationship assigned by the indicator calculation formula with other model instances of the aircraft landing gear; if so, obtain data having a constraint relationship with the model instance of the aircraft landing gear as a constraint input variable of the code block; proceed to step S35; otherwise, proceed to step S32; Step S35: determining a script template corresponding to a meta-model instance category and / or several meta-model instance categories to which the model instance of the aircraft landing gear to be verified belongs, obtaining a calculation rule from the script template as a code for calculation, wherein the code block is composed of the parameter input variable, the constraint input variable and the code package for calculation; the code block includes a calculation code for calculating a functional index for evaluating the aircraft landing gear model; Step S4: Based on the generated calculation code corresponding to the aircraft landing gear model, the calculation code is imported into a relevant solver to calculate and verify the functional indicators of the designed aircraft landing gear model.

2. The method according to claim 1, characterized in that The landing gear metamodel instance is a graphical element required for system architecture design during the development of aircraft landing gear. The landing gear object metamodel instance is used to characterize the physical components of the aircraft landing gear. The landing gear relationship metamodel instance is used to characterize the information transfer relationship between the actual components of the aircraft landing gear. The landing gear point metamodel instance is used to characterize the interface types and interactive objects between the actual components of the aircraft landing gear. The landing gear attribute metamodel instance is an abstract description of the characteristic characteristics of the landing gear object metamodel instance and the relationship metamodel. The landing gear role metamodel instance is used to describe the information transfer relationship between different components of the physical actual product of the landing gear through what type and method the input and output are.

3. The method according to claim 2, characterized in that The script template includes the variable definitions required for calculating and evaluating the functional indicators of the aircraft landing gear model and the calculation formula of the functional indicators. The parameter input variables, constraint input variables and the code for calculation are encapsulated, the parameter input variables are used as the independent variables of the calculation formula of the functional indicators, and the calculation result of the calculation formula is used as the dependent variable.

4. The method according to any one of claims 1 to 3, characterized in that The related solver is a code module that can parse and calculate the code block.

5. A code generation and design verification device for an aircraft landing gear model, used to implement the method according to any one of claims 1 to 4, characterized in that: include: A metamodel instance construction module: configured to construct a metamodel instance of an aircraft landing gear based on the KARM language, wherein the metamodel instance categories of the aircraft landing gear include a landing gear diagram metamodel instance, a landing gear object metamodel instance, a landing gear relationship metamodel instance, a landing gear point metamodel instance, a landing gear attribute metamodel instance, and a landing gear role metamodel instance; An aircraft landing gear model building module: configured to obtain physical properties of the aircraft landing gear to be modeled; based on the physical properties, drag the metamodel instance of the aircraft landing gear in the modeling tool to build the aircraft landing gear model; A code generation module: configured to generate a calculation code for calculating a functional index for evaluating the aircraft landing gear model based on the aircraft landing gear model and a script template for calculating an index of the aircraft landing gear model; wherein the script template has multiple types, which respectively correspond to various types of metamodel instances and / or a combination of several metamodel instances; Function verification module: configured to import the generated calculation code corresponding to the aircraft landing gear model into a related solver to perform calculation verification on the functional indicators of the designed aircraft landing gear model.

6. A computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for a processor to load and execute the method as claimed in any one of claims 1 to 4.

7. An electronic device, characterized in that: The electronic device comprises: A processor, which is used to execute multiple instructions; A memory for storing a plurality of instructions; The plurality of instructions are used to be stored in the memory, and loaded and executed by the processor according to any one of claims 1 to 4.

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