Device for grinding and carving oracle bone inscriptions

Abstract

The invention belongs to the field of oracle protection and recarving, and provides an oracle friction carving device which is composed of a multi-axis workbench, an execution module and a man-machine interaction terminal, the multi-axis workbench is provided with a storage table, a laser cutting head and a scanning assembly are integrally installed at the movable end of the storage table, and scanning and carving integrated operation is achieved; the scanning assembly supports laser and multispectral scanning and can collect three-dimensional data and multispectral textures of the oracle, data fusion processing is carried out through the scanning processing subsystem, incomplete characters are repaired through comparison with an oracle database, the problem of character pattern restoration accuracy is solved, the laser cutting head provides full-process control according to a generated vector path, and the human-computer interaction terminal provides full-process control. Automatic scanning, intelligent repairing and engraving parameter optimization are supported; through hardware integration and a special algorithm, the problems that a traditional split device is large in error and single-mode scanning information is lost are solved, and the fidelity and efficiency of oracle copy are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the field of oracle bone inscription protection and reproduction, and more specifically, it is a device for rubbing oracle bone inscriptions. Background Art

[0002] As an ancient Chinese writing form, oracle bone inscriptions carry rich historical and cultural information. Traditional methods of rubbing oracle bone inscriptions mainly rely on manual operations. Manual rubbing requires extremely high professional skills from craftsmen, consumes a large amount of time and energy, and is prone to rubbing errors due to human factors. With the development of technology, some digital technologies have begun to be applied in the field of cultural relic protection and replication.

[0003] In the existing technology for oracle bone inscription scanning, acquisition, glyph restoration, and conversion, a laser scanner is usually used for scanning and acquisition. Then, the collected data is manually exported by humans, and data analysis and processing are carried out. After that, the processed data is converted into a carving path and uploaded to a carving device for rubbing processing. However, in the actual operation process, due to the long age of oracle bone inscriptions, the texture is blurred. In actual operation, due to diseases such as surface oxidation and cracks caused by the long age of oracle bone inscriptions (note: cultural relic academic terms), using a single-modal scanning device (such as a laser scanner) for data acquisition and manually exporting it to an independent data processing system to generate a carving path is prone to significant deviations between the finally rubbed oracle bone inscriptions and the original style due to reasons such as errors introduced by equipment differences, limitations of single-modal data, and dependence on manual intervention, making it difficult to meet the requirements of high-fidelity replication or diverse artistic creation. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a device for rubbing oracle bone inscriptions to solve the problems in the prior art that the scanning and rubbing of oracle bone inscriptions adopt a split-type processing method, which is prone to problems such as distortion in restoration, inaccurate glyphs, and inability to meet requirements.

[0005] A device for rubbing oracle bone inscriptions includes a multi-axis workbench. A placement table is provided at the upper end of the multi-axis workbench. An execution module is arranged above the placement table on the multi-axis workbench. The execution module includes a laser cutting head and a scanning component integrally arranged on the multi-axis workbench, and the laser cutting head and the scanning component are installed on the movable end of the multi-axis workbench. The scanning component is used to collect three-dimensional data and multi-spectral textures of oracle bone inscription objects, and the laser cutting head is used to rub oracle bone characters on a target material according to the scanning data.

[0006] The multi-axis workbench is also provided with a human-machine interaction terminal, which includes a control host equipped with a scanning and processing subsystem, a Chinese character conversion subsystem, and a glyph processing subsystem. The scanning and processing subsystem includes a scanning control module and a glyph vectorization module. The scanning control module is used to control the working mode switching of the scanning component and fuse and process the data collected by the scanning component. The glyph vectorization module is used to compare with the oracle bone inscriptions database to repair incomplete characters. The Chinese character conversion subsystem is used to receive the modern Chinese character text input by the user and convert it into oracle bone inscriptions. The glyph processing subsystem is used to process the oracle bone inscription glyph data of the Chinese character conversion subsystem and the scanning and processing subsystem to generate an optimized laser cutting path.

[0007] Preferably, the multi-axis workbench includes an upper frame provided on the human-machine interaction terminal, and a three-axis feeding system is provided on the frame for adjusting the relative position between the execution module and the placement table to achieve multi-angle scanning and engraving.

[0008] Preferably, the placement table includes a plurality of positioning units for restricting oracle bone inscription artifacts. The positioning unit includes a positioning column and a magnet embedded in the positioning column. The multi-axis workbench is also provided with a placement platform for adsorbing the magnet to fix the oracle bone inscription artifacts.

[0009] Preferably, the placement platform includes a mounting plate provided on the frame, a magnetic plate is provided on the mounting plate, and a flexible pad is provided on the magnetic plate for flexibly supporting the oracle bone inscription artifacts.

[0010] Preferably, the scanning component includes a laser scanning head and a multi-spectral scanning head. The laser scanning head is used to collect three-dimensional data of the oracle bone inscription artifacts, and the multi-spectral scanning head is used to collect multi-spectral textures of the oracle bone inscription artifacts.

[0011] Preferably, the scanning control module uses a weighted fusion algorithm to fuse the laser placement table D point cloud data and the multi-spectral image, and automatically calibrates the coordinate systems of different sensors.

[0012] Preferably, the glyph vectorization module uses a GAN network to complete strokes, matches similar glyphs through the DTW algorithm, and the fault tolerance threshold is adjustable.

[0013] Preferably, the Chinese character conversion subsystem includes a Chinese character processing module and a Chinese character conversion module. The Chinese character processing module is used to convert the input Chinese character character encoding into a unified encoding format within the system, and compare and query the conversion rule library of Chinese characters and oracle bone inscription glyphs in the system. The Chinese character conversion module is used to process the conversion rules output by the Chinese character processing module to generate corresponding oracle bone inscription glyphs.

[0014] Preferably, the glyph processing subsystem includes an oracle bone inscription recognition and repair module and a path planning module. The oracle bone inscription recognition and repair module includes an oracle bone inscription recognition and repair module for vectorizing oracle bone inscription glyph data. The path planning module uses a path planning algorithm to generate a cutting path and uses a path smoothing algorithm to generate an optimized laser cutting path.

[0015] Preferably, the human-computer interaction terminal further includes a human-computer interaction module for receiving user operation inputs and displaying the system status. A data interface for data copying and recording is provided on the human-computer interaction module.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention realizes multimodal scanning through a laser scanning head and a multispectral scanning head, and cooperates with the scanning control module and the glyph vectorization module of the scanning processing subsystem for scanning data fusion and recognition and repair technology, which can obtain high-precision oracle bone inscription data, and automatically generate an optimized cutting path through the glyph processing subsystem, realizing an integrated processing process of scanning and engraving, reducing human intervention, and improving the accuracy and efficiency of engraving.

[0018] 2. The present invention converts Chinese characters to oracle bone inscription semantic conversion through the Chinese character conversion subsystem, and cooperates with the glyph processing subsystem to automatically generate an optimized cutting path, which can meet the engraving needs of different users and promote the inheritance and dissemination of oracle bone inscription culture.

[0019] 3. Through the combined use of the placement table and the positioning unit, the present invention uses the magnetic attraction between the positioning unit and the placement table, and moves the positioning unit so that the flexible positioning column limits the side of the oracle bone inscription artifact, preventing the artifact from shifting while reducing physical damage to the oracle bone inscription artifact. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a first perspective three-dimensional structural schematic diagram of the present invention;

[0021] Figure 2 is a second perspective three-dimensional structural schematic diagram of the present invention;

[0022] Figure 3 is a three-dimensional structural schematic diagram of the multi-axis workbench and its associated components of the present invention;

[0023] Figure 4 is a three-dimensional structural schematic diagram of the execution module and its associated components of the present invention;

[0024] Figure 5 is a three-dimensional structural schematic diagram of the placement table and its associated components of the present invention;

[0025] Figure 6Schematic three-dimensional structure diagram of the positioning unit of the present invention;

[0026] Figure 7 Schematic connection diagram of the system control module of the present invention.

[0027] In the figure:

[0028] 1. Human-computer interaction terminal; 101. Human-computer interaction module; 102. Control host; 2. Multi-axis workbench; 201. Frame; 202. Y-axis feeding system; 2021. First lead screw; 2022. Moving plate; 2023. First slide bar; 203. X-Z biaxial feeding system; 2031. Mounting frame; 2032. X-axis feeding system; 20321. Second lead screw; 20322. Second slide bar; 2033. Z-axis feeding system; 20331. Third lead screw; 20332. Moving frame; 20333. Third slide bar; 3. Object placement table; 301. Placement table; 3011. Mounting plate; 3012. Magnetic plate; 3013. Flexible pad; 302. Positioning unit; 3021. Positioning column; 3022. Magnet; 4. Execution module; 401. Laser cutting head; 402. Scanning component; 4021. Laser scanning head; 4022. Multispectral scanning head; 5. Data interface; 6. Scanning control module; 7. Glyph vectorization module; 8. Oracle bone inscription recognition and repair module; 9. Path planning module; 10. Motion control module; 11. Chinese character processing module; 12. Chinese character conversion module. Specific embodiments

[0029] The following further describes in detail the embodiments of the present invention in conjunction with the drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0030] As shown in Figure 1 to Figure 6 shown:

[0031] The present invention provides an oracle bone inscription engraving device, which mainly includes a human-computer interaction terminal 1, a multi-axis workbench 2, an object placement table 3 and an execution module 4. The human-computer interaction terminal 1 is equipped with a scanning processing subsystem, a Chinese character conversion subsystem, a glyph processing subsystem, etc., to realize the interaction between the user and the device and the data processing function. The multi-axis workbench 2 is used to adjust the relative position between the execution module 4 and the oracle bone inscription object on the object placement table 3 to achieve multi-angle scanning and engraving. The object placement table 3 is used to fix and support the oracle bone inscription object. The execution module 4 is responsible for collecting the three-dimensional data and multispectral texture of the oracle bone inscription object, and engraving oracle bone inscriptions on the target material according to the scanning data.

[0032] As shown in Figure 1 , Figure 2 and Figure 7As shown in the figure: The human-computer interaction terminal 1 includes a human-computer interaction module 101 and a control host 102. The human-computer interaction module 101 is used to receive user operation inputs and display system status, and is also equipped with a data interface 5 for convenient data copying. The control host 102 is equipped with a scanning processing subsystem, a Chinese character conversion subsystem, and a glyph processing subsystem, which are specifically as follows:

[0033] As shown in the appendix Figure 7 As shown in the figure: The scanning processing subsystem includes a scanning control module 6 and an oracle bone script recognition and repair module 7. The scanning control module 6 regulates the working mode of the scanning component 402, integrates the laser 3D point cloud and multi-spectral image data using a weighted fusion algorithm, and ensures data consistency through automatic calibration of the sensor coordinates. The original point cloud / image is smoothed using Gaussian filtering, and the kernel parameters are dynamically adjusted according to the data characteristics to eliminate environmental noise and device errors, while retaining the true surface features. For multi-angle scanning data, the Iterative Closest Point (ICP) algorithm is used to align the point clouds from different perspectives, and high-precision coordinate unification is achieved by minimizing the Euclidean distance. The Canny edge detection is used to extract the oracle bone script contour, and geometric features such as stroke direction, length, and curvature are analyzed. Combining with the region growing algorithm, the surface of the artifact is segmented based on color, grayscale, or normal vector similarity to extract the overall contour and concave-convex features, providing structured data for subsequent repair and matching.

[0034] The oracle bone script recognition and repair module 7 extracts the features of the text to be processed based on pattern recognition algorithms, calculates the Euclidean distance or cosine similarity in a pre-built oracle bone script glyph template library, matches the optimal template, and generates digital characters. The template library contains standardized glyph feature descriptions to ensure the structure of basic recognition. Then, the oracle bone script recognition and repair module 7 integrating the GAN network is used to perform generative completion on the missing strokes, combines the DTW algorithm to dynamically match similar glyphs, and balances the repair accuracy and flexibility through an adjustable error tolerance threshold, significantly improving the recognition robustness of low-quality samples. Then, the hash algorithm is used to quickly locate candidate records, and precise matching is performed based on details such as glyph features and historical context. If the matching fails, the system marks it as a potential new glyph or error and triggers the manual verification process.

[0035] As shown in the appendix Figure 7As shown in the figure: The Chinese character conversion subsystem consists of a Chinese character processing module 11 and a Chinese character conversion module 12. The Chinese character processing module 11 is responsible for encoding conversion of the Chinese characters input by the user through the man-machine interaction module 101 (such as converting UTF-8 to the unified internal code) to ensure the consistency of subsequent processing. It performs syntactic and semantic analysis on the input content, identifies features such as part of speech and syntactic structure, and provides context basis for subsequent conversion. A conversion rule library for Chinese characters and oracle bone script glyphs is built in the system. This library contains a large number of mapping relationships between common Chinese characters and corresponding oracle bone script glyphs, as well as some conversion rules formulated based on the evolution laws of Chinese characters and semantic associations. According to the input Chinese characters, the corresponding conversion rules are searched in the conversion rule library. For simple one-to-one mapping Chinese characters, the corresponding oracle bone script glyph information is directly obtained; for some complex Chinese characters or Chinese characters with multiple oracle bone script glyph representations, according to the syntactic and semantic analysis results and in combination with the context, the most appropriate conversion rule is selected.

[0036] The Chinese character conversion module 12 generates the corresponding oracle bone script glyphs according to the conversion rules found by the Chinese character processing module 11. If the rule is a direct mapping relationship, the corresponding oracle bone script glyph image data is retrieved from the glyph library; if it involves complex rules such as combination and deformation of glyphs, the basic oracle bone script glyph elements are combined and transformed according to the rules. For example, for a Chinese character composed of multiple components, the oracle bone script glyphs corresponding to each component are combined according to a certain spatial layout and proportional relationship to generate a complete oracle bone script glyph. The generated oracle bone script glyphs can be in vector graphic format so that they can be scaled losslessly during subsequent printing or display.

[0037] As shown in the appendix Figure 7 As shown in the figure: The glyph processing subsystem includes a glyph vectorization module 8 and a path planning module 9. The glyph vectorization module 8 first converts the generated oracle bone script glyphs (whether obtained by scanning and recognition or generated by a converter) into vector graphic format. For bitmap-form oracle bone script glyphs, a vectorization algorithm, such as a contour tracking algorithm, is used to start from the edge of the glyph and track the edge points in a certain direction (such as clockwise or counterclockwise) to convert them into a series of line segments and curve representations to form a vector graphic. This can accurately describe the contour of the oracle bone script glyph and facilitate the subsequent generation of cutting paths.

[0038] The path planning module 9 splits the vector graph of oracle bone script glyphs into line segments and curve segments. For the line segment part, the endpoints are directly used as path nodes. For the curve segments, the least squares method is used to fit them into multiple straight lines to extract key nodes. A path network graph is constructed based on all the nodes, and parameters such as node spacing and turning angle are calculated. The Dijkstra algorithm is used to calculate the shortest path from the starting point to the target point. At the same time, a collision detection algorithm (such as three-dimensional space interference analysis) is combined to avoid the laser cutting head 401 from colliding with the artifacts or equipment components. According to the material properties and cutting requirements, the laser power, moving speed, and dwell time at the nodes are dynamically adjusted to ensure the cutting quality. B-spline curves are used to fit the path to improve the motion continuity (C2), reduce sudden changes in acceleration, and reduce mechanical vibration. By path recombination (such as the TSP model), the non-cutting moving distance is reduced to improve the processing efficiency. Path anomalies such as self-intersection and redundant nodes are detected and corrected to ensure topological correctness. The optimized path data is converted into G-code or dedicated control instructions executable by the equipment, integrated with motion optimization algorithms such as velocity look-ahead and acceleration / deceleration control, and the control instructions are transmitted to the motion control module 10. The motion control module 10 controls the three-axis feeding system to drive the laser cutting head 401 to complete high-precision processing.

[0039] As shown in the Figure 1 , Figure 2 and Figure 7 figures: The multi-axis workbench 2 includes a frame 201 and a three-axis feeding system arranged on the frame 201, namely a Y-axis feeding system 202, an X-axis feeding system 2032, and a Z-axis feeding system 2033. The Y-axis feeding system 202 includes a first lead screw 2021, a moving plate 2022, and a first slide bar 2023. The rotation of the first lead screw 2021 drives the moving plate 2022 to move along the first slide bar 2023 in the Y-axis direction, and the placement table 3 is installed on the moving plate 2022. The X-Z biaxial feeding system 203 is installed on the frame 201. The X-axis feeding system 2032 includes a second lead screw 20321 and a second slide bar 20322 arranged along the X-axis. The mounting bracket 2031 is installed on the nut sleeve of the second lead screw 20321 and is slidably sleeved on the two second slide bars 20322. The Z-axis feeding system 2033 includes a third lead screw 20331 and a third slide bar 20333 arranged along the Z-axis. The moving bracket 20332 is installed on the nut sleeve of the third lead screw 20331 and is slidably sleeved on the third slide bar 20333. The second lead screw 20321 is installed on the moving bracket 20332 through a bearing. One end of each of the first lead screw 2021, the second lead screw 20321, and the third lead screw 20331 is connected to a stepper motor through a coupling. By the rotation of the second lead screw 20321 and the third lead screw 20331, the mounting bracket 2031 drives the execution module 4 to move in the X-axis and Z-axis directions, thereby adjusting the relative position between the execution module 4 and the placement table 3 to achieve multi-angle scanning and engraving.

[0040] The storage table 3 includes a placement table 301 and a positioning unit 302. The placement table 301 includes a mounting plate 3011, a magnetic plate 3012, and a flexible pad 3013. The flexible pad 3013 provides flexible support for oracle bone inscriptions artifacts, reducing damage to the artifacts. The positioning unit 302 includes a positioning post 3021 and a magnet 3022. The magnet 3022 is embedded in the positioning post 3021, and the positioning post 3021 is made of the same material as the flexible pad. The magnetic plate 3012 on the placement table 301 is magnetically attracted to the magnet 3022. Moving the positioning post 3021 enables the flexible positioning post 3021 to limit the side of the oracle bone inscriptions artifact, preventing the artifact from shifting and reducing physical damage to the oracle bone inscriptions artifact at the same time.

[0041] The execution module 4 includes a laser cutting head 401 and a scanning assembly 402. The scanning assembly 402 is further divided into a laser scanning head 4021 and a multispectral scanning head 4022. The laser scanning head 4021 is used to collect three-dimensional data of the oracle bone inscriptions artifact, and the multispectral scanning head 4022 is used to collect multispectral textures of the oracle bone inscriptions artifact, realizing multimodal scanning and obtaining rich artifact information.

[0042] Working principle:

[0043] The storage table 3 fixes and supports the oracle bone inscriptions artifact. The scanning assembly 402 of the execution module 4 performs multimodal scanning under the control of the scanning processing subsystem of the control host 102. The multi-axis workbench 2 adjusts the relative position between the execution module 4 and the storage table 3 to achieve multi-angle scanning and obtain comprehensive artifact data.

[0044] The scanned data is transmitted to the control host 102. Through operations such as preprocessing, feature extraction, recognition and repair of the scanning processing subsystem, as well as matching and comparison with the oracle bone inscriptions database, the accuracy and usability of the data are improved. At the same time, the Chinese character conversion subsystem realizes the conversion from modern Chinese characters to oracle bone inscription glyphs. According to the material of the artifact to be engraved (such as stone, wood, metal, etc.) and the performance parameters of the laser cutting head 401 (such as laser power, cutting speed, spot size, etc.), appropriate cutting process parameters are determined. Different materials have different absorption and heat conduction characteristics for lasers, and it is necessary to adjust the laser power and cutting speed to ensure good cutting effects. For example, for harder stones, higher laser power and slower cutting speed may be required; for wood, the power needs to be appropriately reduced to avoid burning. By experimental testing or referring to relevant laser cutting process manuals, a correspondence table between materials and process parameters is established, and appropriate process parameters are selected according to the artifact material before generating the cutting path.

[0045] Embodiments of the present invention are provided for purposes of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An oracle bone rubbing device, comprising a multi-axis workbench (2), characterized in that: A placing table (3) is provided at the upper end of the multi-axis workbench (2), and an execution module (4) is arranged above the placing table (3) on the multi-axis workbench (2). The execution module (4) includes a laser cutting head (401) and a scanning component (402) integrally arranged on the multi-axis workbench (2), and the laser cutting head (401) and the scanning component (402) are installed on the movable end of the multi-axis workbench (2). The scanning component (402) is used to collect three-dimensional data and multi-spectral textures of oracle bone objects, and the laser cutting head (401) is used to engrave oracle bone characters on the target material according to the scanning data; A human-computer interaction terminal (1) is also arranged on the multi-axis workbench (2). The human-computer interaction terminal (1) includes a control host (102) equipped with a scanning processing subsystem, a Chinese character conversion subsystem and a glyph processing subsystem. The scanning processing subsystem includes a scanning control module (6) and a glyph vectorization module (7). The scanning control module (6) is used to control the working mode switching of the scanning component (402) and fuse and process the data collected by the scanning component (402). The glyph vectorization module (7) is used to compare the oracle bone database and repair incomplete characters. The Chinese character conversion subsystem is used to receive the modern Chinese character text input by the user and convert it into oracle bone characters. The glyph processing subsystem is used to process the oracle bone character glyph data of the Chinese character conversion subsystem and the scanning processing subsystem to generate an optimized laser cutting path.

2. The device for oracle bone rubbing engraving according to claim 1, characterized in that: The multi-axis workbench (2) includes a machine frame (201) arranged on the human-computer interaction terminal (1). A three-axis feeding system is arranged on the machine frame (201) to adjust the relative position between the execution module (4) and the placing table (3) to achieve multi-angle scanning and engraving.

3. The device for oracle bone rubbing according to claim 2, characterized in that: The placing table (3) includes a number of positioning units (302) for restricting oracle bone objects. The positioning unit (302) includes a positioning column (3021) and a magnet (3022) embedded in the positioning column (3021). A placing platform (301) is also arranged on the multi-axis workbench (2) to adsorb the magnet (3022) to fix the oracle bone object.

4. The device for oracle bone rubbing according to claim 3, wherein: The placing platform (301) includes a mounting plate (3011) arranged on the machine frame (201). A magnetic plate (3012) is arranged on the mounting plate (3011), and a flexible pad (3013) is arranged on the magnetic plate (3012) for flexible support of the oracle bone object.

5. The device for oracle bone rubbing according to claim 1, characterized in that: The scanning component (402) includes a laser scanning head (4021) and a multi-spectral scanning head (4022). The laser scanning head (4021) is used to collect three-dimensional data of oracle bone objects, and the multi-spectral scanning head (4022) is used to collect multi-spectral textures of oracle bone objects.

6. The device for oracle bone inscription rubbing according to claim 1, characterized in that: The scanning control module (6) uses a weighted fusion algorithm to fuse the laser placing table (3) D point cloud data and the multi-spectral image, and automatically calibrates the coordinate systems of different sensors.

7. The device for oracle bone rubbing according to claim 1, wherein: The glyph vectorization module (7) uses a GAN network to complete the strokes, matches similar glyphs through the DTW algorithm, and the fault tolerance threshold is adjustable.

8. The device for oracle bone rubbing according to claim 1, characterized in that: The Chinese character conversion subsystem includes a Chinese character processing module (11) and a Chinese character conversion module (12). The Chinese character processing module (11) is used to convert the input Chinese character character code into a unified encoding format within the system, and compare and query the conversion rule library of Chinese characters and oracle bone script glyphs in the system. The Chinese character conversion module (12) is used to process the conversion rules output by the Chinese character processing module (11) to generate corresponding oracle bone script glyphs.

9. The device for oracle bone rubbing according to claim 1, wherein: The glyph processing subsystem includes an oracle bone script recognition and repair module (8) and a path planning module (9). The oracle bone script recognition and repair module (8) includes an oracle bone script recognition and repair module (8) for vectorizing oracle bone script glyph data. The path planning module (9) uses a path planning algorithm to generate a cutting path and uses a path smoothing algorithm to generate an optimized laser cutting path.

10. The device for oracle bone rubbing according to claim 1, wherein: The human-computer interaction terminal (1) further includes a human-computer interaction module (101) for receiving user operation inputs and displaying the system status. A data interface (5) for data copying and recording is provided on the human-computer interaction module (101).

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