Abstract: An electrostatic pad includes a first planar array of first electrodes arranged in a first pattern, and a second planar array of second electrodes arranged in a second pattern that is different from the first pattern, wherein the first and second planar arrays are disposed parallel to each other. A third layer of electrically insulative material may be sandwiched between the first and second planar arrays of respective first and second electrodes.

Abstract: A transducer wiring board includes a movable unit, a fixing unit, plural suspensions, plural X-axis actuators, and plural Y-axis actuators. The movable unit includes a first movable section and plural second movable sections. The second movable sections are disposed on two sides of the first movable section along a Y axial direction. The fixing unit is spaced apart from the movable unit and includes plural fixing sections. The fixing sections are disposed on another two sides of the first movable section along an X axial direction. Each suspension connects the movable unit and the fixing unit. Each X-axis actuator connects one of the fixing sections and the first movable section. Each Y-axis actuator connects the first movable section and one of the second movable section.

Abstract: Techniques described herein generally relate to generating an audio signal with a speaker device. The speaker device includes a first conductive layer with a plurality of center structures and springs; a second conductive layer with a plurality of perforations; and electrical isolation rings; a third conductive layer with a plurality of center structures and springs; and a dielectric layer. The first, second and third conductive layers are in physical contact with the dielectric layer and are electrically isolated from each other.

Abstract: The disclosure provides a flexible, narrow medical device (such as a micro-catheter or a guidewire) that is controllably moved and steered through lumens of a body. The medical device may include an electrically-actuatable bendable portion at a distal end, which may be provided by a polymer electrolyte layer, electrodes distributed about the polymer electrolyte layer, and electrical conduits coupled to the electrodes, such that the polymer electrolyte layer deforms asymmetrically in response to an electrical signal through one or more conduits. The disclosure further includes a controller for moving the device into and out of bodily lumens and for applying the electrical signal for steering the device. The device further includes methods of preparing the polymer electrolyte layer in tubular shape.

Abstract: A tactile human-user interface system provides a refreshable tactile display that communicates text and images. The system includes a processor and a set of transducers. The processor receives text and/or image input and defeatures any images in the input to produce a simplified image. The processor translates the input into tactile form, which it converts into a set of electrical signals associated with a set of pixels of a display. Each transducer of the set of transducers corresponds to a respective pixel of the set of pixels. The set of transducers receive, from the processor, the set of electrical signals. The set of transducers generates, in response to the set of electrical signals, tactile outputs, detectable by a finger of a human user, at locations corresponding to the set of pixels.

Abstract: An ultrasonic transducer is described that includes a stack of at least two membranes attached to a substrate. An electric circuit is coupled to the electrodes with a controller configured to apply a first electric signal to a first electrode on the first membrane, and a different, second electric signal to a second electrode on the second membrane. The first and second electric signals are configured to apply a varying voltage between the first electrode and the second electrode during a respective vibration cycle of the membranes. The first electrode on the first membrane is configured to interact with the second electrode on the second membrane by a varying electrostatic force during the respective vibration cycle depending on the varying voltage.

Abstract: A turbulence-enhanced liquid-solid friction nano power generation device is provided, including multiple power generation cores connected in parallel. Each of the power generation cores includes an outer tube, a friction liquid, external friction electrodes, internal turbulators and internal friction electrodes. When the power generation cores undergo a swing motion, the friction liquid inside the outer tube rubs against an inner wall of the outer tube and an outer membrane of each of the internal turbulators to generate charges; and the charges are transferred based on the external friction electrodes and the internal friction electrodes, and an alternating current is generated and is led out through an external wire.

Abstract: An actuator includes a primary electrode, a secondary electrode overlapping at least a portion of the primary electrode, and an electroactive layer disposed between and abutting the primary electrode and the secondary electrode, where a mechanical deformation of the electroactive layer is locally controllable over an area of the actuator. The mechanical deformation of the electroactive layer may be configured to generate compound curvature, e.g., in an optical element co-integrated with the actuator, without buckling the optical element.

Abstract: MEMS actuator including: a substrate; a first and a second semiconductive layer; a frame including transverse regions formed by the second semiconductive layer, elongated parallel to a first direction and offset along a second direction, the frame being movable parallel to the second direction.

Abstract: An artificial muscle system includes an artificial muscle and a power supply. The artificial muscle includes an electrode pair including a first electrode and a second electrode, an electrical insulator membrane fixed to the second electrode, a housing including an electrode region and an expandable fluid region, the electrode pair positioned in the electrode region of the housing, and a dielectric fluid housed within the housing. The power supply includes a positive terminal and a negative terminal. The positive terminal is electrically coupled to the second electrode. The negative terminal is electrically coupled to the first electrode. The electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region.

Abstract: A producing method of a handle wafer for a bonded wafer produced by bonding an active wafer and the handle wafer through an insulation film includes: preparing a handle wafer body made from a monocrystalline silicon wafer; forming an oxide film on the handle wafer body; depositing a polycrystalline silicon layer on the oxide film; forming a protective oxide film on a surface of the polycrystalline silicon layer; and polishing to remove the protective oxide film and polishing the polycrystalline silicon layer.

Abstract: An artificial muscle assembly includes initiating actuators and an artificial muscle. The artificial muscle includes a housing including an electrode region and an expandable fluid region, and an electrode pair positioned in the electrode region. The electrode pair includes a first electrode and a second electrode fixed to respective first and second surfaces of the housing. At least one of the first electrode and the second electrode includes a central opening defining the expandable fluid region. The electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs a dielectric fluid into the expandable fluid region. Each initiating actuator is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state applies a force against the electrode region of the artificial muscle.

Abstract: A silicon microelectromechanical system, MEMS, resonator assembly, includes four flexural beam elements forming a rectangular frame, each beam element being connected at an end thereof to an end of a neighboring one of the beam elements. The resonator assembly further includes connection elements for connecting the rectangular frame to at least one mechanical anchor, and the resonator assembly supporting an in-plane flexural collective resonance mode.

Abstract: Since safe utilization of an optical transmission system is impaired if a system is adopted in which a wavelength band is divided into sub-bands and a different user is allocated to each sub-band, the optical signal monitoring device of the present invention includes: an optical signal information generating means for monitoring wavelength multiplexed signal light comprising sub-band optical signals belonging to each of a plurality of sub-bands classified by means of identification information, and generating wavelength multiplexed signal information including optical power information of each wavelength in the wavelength multiplexed signal light; a sub-band signal information generating means for generating sub-band signal information associated with the identification information, for each of the plurality of sub-bands, on the basis of the wavelength multiplexed signal information; and a sub-band signal information control means for controlling the utilization of the sub-band signal information, on the basi

Abstract: A scanning mirror that prevents the oxidation or hydroxylation of a torsion bar, thereby suppressing deterioration of the torsion bar and a manufacturing method for the scanning mirror. The scanning mirror has a torsion bar provided so as to support a mirror portion and of which the surface is covered with an atomic layer deposition (ALD) layer. The scanning mirror is configured such that the mirror portion can be rotated around an axis that extends along the torsion bar when torsional force is applied to the torsion bar. The scanning mirror is manufactured by forming the mirror portion and the torsion bar and then forming the ALD layer on at least the surface of the torsion bar.

Abstract: The present invention discloses a power-generating insole based on fabric integration, which comprises a power-generating insole body, a detachable outer layer and an electronic module; The power-generating insole comprises a first friction component, a second friction component and a fabric composite component; The first friction component is composed of a first electrode layer and a first polymer material; The first friction component and the fabric composite component are integrally formed; The second friction component is wrapped around the middle part of the fabric composite component, and is integrated with the first friction component and the fabric composite component; The detachable outer layer is wrapped on the surface of the power-generating insole body; The electronic module is connected to the power-generating insole body; The present invention has long service life, good flexibility, plasticity, is washing resistance and stability.

Abstract: Some embodiments are directed to a system comprising a MEMS based actuator unit and a control electric circuit. The actuator unit comprising one or more MEMS actuators, each comprising a stator and a rotor and configured to define a payload position in response to electric potential between said stator and rotor. The electric circuit comprising one or more amplifiers configured to provide electric control signal to the one or more MEMS actuators to selectively vary position of said payload. The electric circuit comprises a sensing circuit configured for providing an alternating carrier signal and for monitoring said carrier signal to generate data on impedance of said one or more MEMS actuators indicative of position of the rotor with respect to the stator of said one or more MEMS actuators.

Abstract: A method comprises applying a driver voltage to an electrostatic comb drive of an MEMS apparatus and overlaying the driver voltage with a periodic voltage signal. The method further comprises determining a torsion angle of a mirror body of the MEMS apparatus based on the periodic voltage signal.

Abstract: An electrostatic device includes: a fixed portion, a moveable portion, and an elastically-supporting portion that are formed in a same substrate; and a first glass package and a second glass package that are anodically bonded to each other on one and the other of front and back surfaces of the substrate with the fixed portion and the elastically-supporting portion separated from each other, the second glass package forms a sealed space in which the moveable portion is arranged between the first and second glass packages, an electret is formed at least partially in the fixed portion and the moveable portion, and a first electrode connected to the fixed portion and exposed on an outer surface of the second glass package and a second electrode connected to the elastically-supporting portion and exposed on the outer surface of the second glass package are formed in the second glass package.

Abstract: To provide a simply-structured multilayer electrostatic actuator that exhibits a sufficient stroke and a sufficient contraction force in a specific drive range, and rapidly hardens upon an attempt to widen the interval between electrodes beyond the drive range. A multilayer electrostatic actuator (1) is configured by a plurality of actuator parts (2a, 2b, 2c) each including: a first film (3a1, 3b1, 3c1) having a plurality of first connection regions (7a1, 7b1, 7c1) formed on one surface in a predetermined pattern; and a second film (3a2, 3b2, 3c2) connected to the first film via the first connection regions, and having a plurality of second connection regions (7a2, 7b2, 7c2) formed on a surface opposite to the first film in the identical pattern. The actuator parts are connected and layered via the second connection regions.

Abstract: An array of MEMS mirrors intercept a laser beam and redirect it toward an environment to be detected. A controller is configured to control the laser and the array of MEMS mirrors to generate a plurality of irregular patterns, such as a Hadamard pattern. The controller controls the laser and the array of MEMS mirrors to generate a plurality of Hadamard patterns on a single scan line at different times, such that all pixel positions in the scan line are impacted by one of the redirected beams from the mirror array at least once. The detected intensities of all the pixel reflections in each pattern are combined to give a total combined intensity for each of the different times. The Hadamard pattern is used to decode the various total combined intensities for a scan line to determine an intensity of each pixel in the scan line.

Abstract: An adaptive article of apparel can include a textile with an opening that is configured to admit a body part of a wearer, and an electroadhesive clutch secured to the textile and extending around at least a portion of the opening. The electroadhesive clutch can be configured to permit or inhibit changing a size of the opening.

Abstract: A self-generating power supply apparatus includes a power generating body, an energy harvester, and a power consumer. The power generating body generates an electromagnetic field when a force is applied, an energy of the electromagnetic field is received by the energy harvester and subsequently transferred to the power consumer; or alternatively, the energy harvester is not provided and the energy of the electromagnetic field is directly received and used by the power consumer. The energy of the electromagnetic field is harvested by the energy harvester contacting or not contacting the power generating body, and then is converted into electrical energy, which is transferred out in a wired or wireless manner to enable self-generating power supply for the apparatus. The self-generating power supply apparatus has an immeasurable impact on the development in the fields such as wearable devices, small mobile communication devices, Internet of Things, new energy etc.

Abstract: A MEMS micromirror device comprising, a reflective movable mirror, and a surrounding substrate coplanar to the mirror. A physical gap between the mirror and the surrounding substrate filled with fluid and finger structures extend from a perimeter of the movable mirror into the physical gap.

Abstract: A resonant transformer connected between a ground terminal and elevated terminal draws current from the earth's electric field through a primary winding of the transformer. An impulse generator applies a high voltage impulse to the primary winding of the resonant transformer to cause current to flow from the ground terminal through the primary winding. The flow of current through the primary winding of the resonant transformer induces a current in the secondary winding, which may be converted and filtered to a usable form, e.g. 60 Hz AC or DC.

Abstract: A stacked structure formed of two active element (AE) layers includes: a first substrate; a second substrate; a first conductive surface and a second conductive surface totally formed on the first substrate and second substrate, respectively, and including an active region and a connecting region; a compression space between the first active region of the first conductive surface and the second substrate; an elastic layer including a plurality of elastic nodules spanning the compression space and contacting the second substrate, formed on the active region of the first conductive surface or on an exposed surface of the second substrate, the elastic nodules compressed in response to a voltage difference between the first and second conductive surfaces or to an external force; a conductive adhesive contacting the connecting region of the first and second conductive surfaces; and a conductive element coupled to the conductive adhesive, for electrically connecting the AE layers.

Abstract: A comb-drive device used in Micro Electro Mechanical System is provided, and the comb-drive device includes: a rotor comprising a rotor body and a plurality of rotor combs provided on the rotor body; and a stator comprising one or more stator bodies and a plurality of stator combs provided on the one or more stator bodies. The rotor is spaced from the stator by a distance, the rotor and the stator are arranged along a direction in which the rotor is movable, and the plurality of rotor combs and the plurality of stator combs are alternately arranged in a direction particular to the direction in which the rotor is movable; and the rotor body is made of an insulating material, and each of the plurality of rotor combs is made of a conductive material or coated with a conductive material. The present invention can increase sensitivity and capacitance efficiency of the comb-drive device.

Abstract: A micromechanical apparatus includes a substrate, a movable element disposed in a reference plane in an undeflected state, a transmission structure having a first transmission side coupled to the substrate, and a second transmission side coupled to the movable element, and an actuator configured to provide a force along a force direction parallel to the reference plane and apply the same to the first transmission side. The transmission structure is configured to transfer the force along the force direction to a movement of the movable element out of the reference plane.

Abstract: A electrical generator that uses wasted heat that emanates from an external heat source to generate electricity. The generation of electricity is based on known thermo-electric principles, electro-chemical principles, magneto-hydro-dynamic principles, the Hall Effect, and electro-static principles. The electrical generator uses a plurality of plates of different thermo-electric conductive materials to generate electricity. Those plurality of plates are stacked on top of the other in a certain order. Each plate has the same array of through holes. Those through holes form an array of lineal channels through the stacked plurality of plates.

Abstract: A method and a system are provided for capturing particle emissions from a tire of a vehicle. The system includes a triboelectric generator configured to generate an electric current. The system includes a capture surface configured to have an electric field. The system includes a first electrical connecting line connecting the triboelectric generator to the capture surface. The first electrical connecting line is configured to pass to the capture surface the electric current generated via the triboelectric generator. The passed electric current is used by the capture surface to generate the electric field. The system includes a set of filters attached to the capture surface. A computer program product is also provided which may cause a computer system to adjust a supplementary power flow to the capture surface based on a control signal that is received.

Abstract: A power generator includes an electret including a first charged surface and a second charged surface having opposite polarities, a first electrode partially formed on the first charged surface, a second electrode formed on the second charged surface, a third electrode disposed to face the first charged surface with a space, and at least one of a power storage unit or an output unit. The first charged surface has a current collecting surface that is exposed outward. The first electrode and the second electrode form a first power generating unit and the third electrode and the second electrode form a second power generating unit. The electret is formed by polarizing an electret material that includes an inorganic dielectric having a bandgap energy of 4 eV or more.

Abstract: The present invention relates to an triboelectric nanogenerator using an ionic elastomer that increases internal electric capacity and allows a large amount of electric charge to be located on a surface to generate a large amount of electrical energy. The triboelectric nanogenerator according to the present invention includes a first electrode; an ionic elastomer disposed on the first electrode and including an elastomer and an ionic liquid; a second electrode disposed to be spaced apart from the first electrode and electrically connected to the first electrode; and an insulator disposed under the second electrode, selectively contacting the ionic elastomer, and formed of a material that has a negative charge compared to the ionic elastomer.

Abstract: A photoacoustic element which has excellent optical properties and acoustic properties is achieved. The photoacoustic element (1) includes: a metal layer (10); a first member (11) which is bonded to one primary surface of the metal layer (10); and a second member (12) which is bonded to another primary surface of the metal layer (10). The metal layer (10) reflects optical waves and transmits photoacoustic waves stemming from optical waves. Materials of the metal layer (10), the first member (11), and the second member (12) are selected so as to match an acoustic impedance of the metal layer (10) and an acoustic impedance of each of the first member (11) and the second member (12).

Abstract: A logic system includes a microelectromechanical system, MEMS, resonator having an arch beam and first and second side beams, wherein the first side beam is attached with a first end to a first end of the arch beam and the second side beam is attached with a first end to a second end of the arch beam to form a U-shape; an input electrode facing the second side beam; a selector electrode facing the second side beam; a first output electrode facing the first side beam; and a second output electrode facing the arch beam.

Abstract: A MEMS switch having a substrate, a micromechanical function layer situated above the substrate, and a fixed part and an electrically operable, deflectable switch element are developed in the micromechanical function layer, the switch element for closing an electrically conductive contact with the fixed part being suspended on at least one first spring in a deflectable manner. In a first operating state, the switch element is in a first position at a first distance from the fixed part, and the electrical contact is open. In a second operating state, the switch element is in a second position at a second distance from the fixed part, and the first spring is deflected and exerts a first restoring force, and the switch element establishes an operative connection with at least one second spring and the electrical contact is open. In a third operating state, the switch element is in a third position.

Abstract: An embodiment comprises: a housing; a bobbin disposed in the housing; a first coil disposed on the bobbin; a magnet disposed on the housing; a first sensing coil, disposed on the housing, for generating a first induced voltage by interacting with the first coil; a first circuit board connected to the first coil and the first sensing coil; and a first amplifier, disposed on the first circuit board, for amplifying the first induced voltage of the first sensing coil and outputting a first amplified signal.

Abstract: The present embodiments relate to a shape memory alloy (SMA) actuator with a joint between an SMA wire the SMA actuator being disposed at a bottom surface of the SMA actuator. The SMA actuator can include at least one fixed end configured to be fixed to a carriage, at least one free end, at least one beam connecting the fixed end and the free end, and at least one SMA wire. The at least one SMA wire can be electrically connected to the at least one fixed end and the at least one free end via electrical contact portions. The position of the at least one SMA wire being affixed to the bottom surface can allow for reduced stress and a wire exit angle at the weld joint between each SMA wire and the actuator, improving resiliency of the SMA actuator.

Abstract: In one example in accordance with the present disclosure, an imaging device is described. The imaging device includes an array of transducers. Each transducer includes an array of piezoelectric elements. Each piezoelectric element transmits pressure waves towards an object to be imaged and receives reflections of the pressure waves off the object to be imaged. The imaging device also includes a transmit channel per one or more piezoelectric elements to generate the pressure waves and a receive channel per one or more piezoelectric elements to process the reflections of the pressure waves. The number of channels are selectively altered to control parameters such as power consumption and temperature.

Abstract: A triboelectric sensor comprises a substrate; at least one grid structure disposed in or on the substrate; and at least one electrode for collecting triboelectric charges that are generated by sliding of an object over a surface of the substrate; wherein the at least one grid structure is configured such that motion of the object is detectable from a signal generated by crossing of the object over at least part of the grid structure.

Abstract: An artificial muscle assembly includes initiating actuators and an artificial muscle. The artificial muscle includes a housing including an electrode region and an expandable fluid region, and an electrode pair positioned in the electrode region. The electrode pair includes a first electrode and a second electrode fixed to respective first and second surfaces of the housing. At least one of the first electrode and the second electrode includes a central opening defining the expandable fluid region. The electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs a dielectric fluid into the expandable fluid region. Each initiating actuator is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state applies a force against the electrode region of the artificial muscle.

Abstract: A fog-based self-powered system for collecting atmospheric water and generating electricity is presented. The system includes a mesh-based fog harvester for accumulating water droplets from atmospheric moisture. A droplet distributor receives accumulated water droplets from the mesh-based fog harvester. A droplet electrical generator harvests energy from the water droplets accumulated in the droplet distributor. The droplet electrical generator includes an electret surface for receiving the water droplets from the droplet distributor and at least two electrodes. A water reservoir receives water droplets from the droplet electrical generator.

Abstract: Provided is a microelectrode having a layered structure, including a layer containing a polymer compound having an aromatic ring (polymer compound layer) and a layer containing a conductive material (conductive layer), wherein a thickness of the polymer compound layer is 10 to 900 nm, a thickness of the conductive layer is 0.3 to 10 nm, and the microelectrode has a three-dimensional curved shape.

Abstract: Described herein are bio-inspired acoustic bandpass sensors with a user-defined range of frequencies mimicking the geometric structure of a human's basilar membrane to capture infrasonic, sonic or ultrasonic waves per design with a target frequency range for a specific application and methods of making same.

Abstract: An ergometric treadmill for sport training comprising a screen, a control system and a system configured for collecting, processing, analyzing and visualizing the biomechanical response of a sportsperson while running on the ergometric treadmill; wherein the ergometric treadmill comprises (a) a plurality of MEMS sensors attached by means of supports to the ergometric treadmill connected to a data capture unit; and (b) a data processing unit configured to generate a plurality of parameters related to the physical exercise performed on the ergometric treadmill by a user and synthesize and show, in graphic form, the parameters generated for the user's biofeedback from the treadmill.

Abstract: A dielectric elastomer transducer according to the present invention includes a dielectric elastomer layer, and a pair of electrode layers sandwiching the dielectric elastomer layer. The electrode layers contain a binder and carbon black. The carbon black has a particle size distribution as measured by dynamic light scattering in which not less than 95% falls in a range of 0.15 to 8.0 ?m. The carbon black has a particle size as measured by laser scattering ranging from 0.4 to 50 ?m. The particle size distribution of the carbon black as measured by dynamic light scattering has a first peak that falls in a first range of 0.15 to 1.0 ?m and a second peak that falls in a second range of 1.0 ?m to 8.0 ?m. This structure achieves both stretchability and electrical conductivity of the electrode layers.

Abstract: A sensor unit to be incorporated in a skin-like layer of machines such as robots employs a set of sensor electrodes supported in a first deformable sheet and a base electrode supported in a second deformable sheet, each of the sensor electrodes partially overlapping the base electrode so that application of a shear force causes the overlap of the electrodes to differentially change modifying the capacitance of the electrodes and permitting the detection of the shear force.

Abstract: The present invention relates to a positively-charged body for a triboelectric generator and a triboelectric generator including the same. More particularly, the present invention relates to a positively-charged body based on a two-dimensional material including silicon oxide, and to a triboelectric generator including such a positively-charged body. Thus, a conventional manner in which the positively-charged body is mainly composed of a metal thin film or polymer is not used, but the positively-charged body is made of the silicon oxide and the two-dimensional material. Thus, charge generation efficiency of the generator via contact between the positively-charged body and a negatively-charged body may be dramatically enhanced.

Abstract: Disclosed is a vortex-induced vibration-based piezoelectricity and friction nanometer power generation combined energy collector. The energy collector includes a support frame, a piezoelectric plate, a cylinder and a solid-liquid type friction nanometer power generation assembly, wherein the support frame includes a fixed plate, a cantilever plate and a connecting plate which are sequentially connected from top to bottom, the piezoelectric plate is fixed on one side of the cantilever plate, the solid-liquid type friction nanometer power generation assembly has an outer shell, an insulating friction inner shell and a sealing part, the outer shell having two symmetrically arranged induction electrodes, insulating layers are arranged between the butt joint faces of the two induction electrodes, the included angles between the butt joint faces of the two induction electrodes and the plane, provided with the piezoelectric plate, of the cantilever plate are not 90°.

Abstract: An electrostatic motor includes a cylindrical rotor and a stator. Electrodes are disposed on an inside cylindrical surface of the stator. Electrets and/or electrically conductive electrodes are disposed on the cylindrical rotor and a dielectric fluid fills space between the rotor and the stator to prevent discharge of the electrets. A mask is used to charge portions of an electret cylinder or other curved surface.

Abstract: This MEMS beam structure that elastically supports a movable section displaced in a first direction includes: a first beam section and a second beam section extending in a second direction orthogonal to the first direction; and a linking section that connects the tip of the first beam section and the tip of the second beam section that is connected to the movable section, wherein the first beam section and the second beam section each have a shape as a beam of uniform strength, and the beam section root of the second beam section is displaced relatively in the first direction with respect to the beam section root of the first beam section according to the displacement of the movable section in the first direction.