Abstract: The purpose of the present invention is to further improve the accuracy of position control of a machine apparatus. A control device for a machine apparatus is equipped with: a speed control unit for calculating a torque command for the machine apparatus; a friction estimation unit for calculating an estimated value of the friction force produced by the machine apparatus; an amplitude phase adjustment unit for calculating a corrected friction value by multiplying the proportional gain by the friction force estimated by the friction estimation unit; and a correction unit for correcting the torque command by using the corrected friction value calculated by the amplitude phase adjustment unit. Furthermore, the proportional gain is determined on the basis of the gain properties of the transfer function of the machine apparatus from the position command to the position deviation.

Abstract: An electronic device including a processor, a display screen in communication with the processor, a track pad in communication with the processor including a movable surface that is selectively movable in at least one direction to provide feedback to a user, and a feedback system in communication with the processor including a feedback sensor. The feedback sensor determines a movement characteristic of the movable surface and the processor selectively adjusts at least one setting of the track pad based on the movement characteristic.

Abstract: A method and device for the cyclic digital transfer of a position value of a moving object having inertial mass, the value range of the transferred position value being limited in such a way that no whole revolution or, in the case of a linear motion, other complete period that is conditional upon mechanical conditions is mappable, and the actual position is generated by detecting, in an evaluation unit, instances of the value range being exceeded.

Abstract: A method for detecting a fault in an electrical machine, e.g., a synchronous motor, a motor control unit for controlling an electrical machine, and a motor arrangement having such a motor control unit are disclosed. According to the method, rotation angle data are determined, which data are dependent on a rotation angle of a rotor of the electrical machine in the absence of the fault. In addition, additional data are determined and allow conclusions to be drawn on the fault. A fault is detected if the rotation angle data satisfy a first criterion and the additional data satisfy a second criterion.

Abstract: A position controller includes a position detector, a speed command operator, a first adder, a torque command operator, a second adder, a drive unit, a runout amount correcting device, and a third adder. The runout amount correcting device is configured to employ a value related to deviation between a command value and a detection value in physical quantity of a movable part as a reference signal. The runout amount correcting device is configured to calculate a position correction amount from rotation angle information of the main spindle and the reference signal. The runout amount correcting device is configured to estimate a runout amount of a cutting edge of the tool from the reference signal. The runout amount correcting device is configured to calculate the position correction amount such that influences of the respective cutting edges appearing in the reference signal are leveled.

Abstract: A virtual encounter system includes a humanoid robot having tactile sensors positioned along the exterior of the humanoid robot. The tactile sensors send tactile signals to a communications network. The virtual encounter system also includes a body suit having tactile actuators. The tactile actuators receive the tactile signals from the communications network.

Abstract: A system and method for maneuvering a robotic end-effector using one or more motors that have a force limiter that is adaptable to take into account any effects of a changing gravitational force as the system moves. In one embodiment, the system includes an actuator, such as a drive motor, for applying a force vector to actuate a function of the end effector, such as moving the end-effector along a track that is attached to a contoured surface. Further, a force limiter coupled to the actuator is configured to interrupt the actuating if the force exceeds a first threshold. Further, the system includes an orientation detector to determine any changes in orientation with respect to gravity so as to adjust the force limit accordingly. Thus, if the force limiter determines that a threshold has been exceeded, the force limiter may limit or interrupt the motion while taking changing gravitational forces into account.

Abstract: Provided is a motor control device, including an acceleration command calculation unit configured to calculate an acceleration command directed to a motor, a torque command calculation unit configured to calculate a torque command directed to the motor based on the acceleration command and a predetermined moment-of-inertia value, a torque correction value calculation unit configured to estimate disturbance of the motor based on the torque command and at least one of a motor position or a motor speed, to thereby calculate a torque correction value for the torque command, and a moment-of-inertia value change unit configured to change the predetermined moment-of-inertia value based on an estimated moment-of-inertia ratio, which is a ratio of the torque correction value to the torque command.

Abstract: Embodiments disclosed herein include devices and methods for gripping electrical components. The electrical device gripping tool may include a rotating handle, a cam assembly, and a body. The rotating handle may be attached to the assembly and the cam assembly may include a cam holder that fits over the cam to connect the rotating handle to the body. Furthermore, the body may include a first body half and a second body half that are each separately coupled to the cam such that the first body half and the second body half slide towards each other and slide away from each other with respect to a rotation of the rotating handle. In addition, shields are optionally attached to the first and second body half such that they assist in the removal of the electrical device without its terminals making contact with the containment box.

Abstract: A motor drive apparatus according to the present invention comprises: an electric shunt which shunts a current flowing through a power line connected to a motor; a first current detection unit and a second detection unit, each disposed on either side of a node shunted by the electric shunt, for detecting the current flowing through the power line; a shunt commanding unit which gives a shunt command to the electric shunt to effect shunting of the current; and a determining unit which determines the presence or absence of a fault in the electric shunt, based on the shunt command and on current values detected by the first current detection unit and the second detection unit.

Abstract: In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (?mc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (?md). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).

Abstract: A robot control device controls the operation of a robot including a trunk that is rotatable around an axis, first and second robot arms that are provided at the trunk and rotatable with respect to the trunk, and first, second, and third inertial sensors. In an operation in which the second robot arm is brought into a stationary state and the first robot arm is rotated around the axis from the stationary state and moved to a target position, the robot control device makes B/A<0.27 satisfied when a maximum value of the amplitude of the angular velocity of the trunk around the axis before the first robot arm reaches the target position is defined as A, and a maximum value of the amplitude of the angular velocity of the trunk around the axis after the first robot arm has reached the target position first is defined as B.

Abstract: The present disclosure relates to an APC method and tool architecture to elaborate process stability, comprising a two-loop architecture for fine tuning by an APC loop and recovery tuning by an equipment performance optimization (EPO) loop of one or more process parameters. Fine tuning by the APC loop comprises neutralization of systematic drifts from manufacturing tool or the manufacturing process itself. Recovery tuning by the EPO loop comprises aligning processing tool conditions with their tool baseline configuration. The APC method and tool architecture establishes switching criteria for fine tuning of process parameters and recovery tuning of equipment parameters. A synergy mechanism is further established between the two loops, wherein adjustments to equipment parameters made by the EPO loop are recognized by the APC loop to avoid double-tuning. The APC method and tool architecture results in manufacturing process stability within a manufacturing process module.

Abstract: A motor control device includes a model control system that controls a motor machine model position using a target value (a position instruction after differentiation) related to a position instruction, and a feedback control system that controls a motor position using the target value (a position instruction after differentiation) related to the position instruction and an amount of control (model position) of the model control system. The feedback control system controls the motor position using the amount of control (model position) of the model control system at all times.

Abstract: A control method for a robot apparatus including a power supply unit, an articulated arm having a plurality of joints each having an actuator and a driver, and a control device includes determining by the control device whether a total of required power in all of the actuators is equal to or lower than an allowable power of the power supply unit by using a trajectory through teaching points for moving the articulated arm from a first position/attitude to a second position/attitude before the articulated arm starts moving, and if not, resetting by the control device the trajectory for moving the articulated arm from the first position/attitude to the second position/attitude to a trajectory causing a total of required powers in all of the actuators to be equal to or lower than the allowable power of the power supply unit.

Abstract: A system and method for commanding a robot by a programmable logic controller are disclosed. The system can include a programmable logic controller, at least two function blocks with at least one input for triggering an execution of a PLC function and at least one output indicating status of a function block. Each function block corresponds to a movement segment of a movement path of a robot to be commanded. A command queue can store and send orchestrated robot commands to the robot. Backwards motion of the robot can be performed by stopping execution of not yet executed robot commands for forward motion, and sequentially resending at least one executed robot command stored in the command queue in a contrawise sequence.

Abstract: An apparatus and a method for driving a voice coil motor (VCM) may include an instruction signal generating unit generating an instruction signal according to a digital signal generated from an input signal, and a driving unit driving the VCM by selecting a path for a driving current applied to the VCM according to the digital signal and controlling a duty of the driving current according to the instruction signal.

Abstract: A motor control system for determining an offset correction value is provided. The motor control system includes a motor, an inverter, an inverter controller, and a dynamic offset compensation control module. The inverter is configured to transmit the phase current to the motor. The inverter controller determines the phase current to the motor. The dynamic offset compensation control module is in communication with the inverter controller and the motor, and is configured to perform a method at a fixed periodic interval to determine the offset correction value.

Abstract: A control system includes a force sensor that has a mechanical mechanism (e.g., an end effector) and N (N is an integer equal to or more than two) triaxial force sensor units, acquires unit output values to which values resulting from the mechanical mechanism have been added from the respective triaxial force sensor units of the N triaxial force sensor units, and outputs force sense values based on the unit output values, a force sense value corrector that corrects the force sense values based on the force sense values output by the force sensor, and a controller that performs control of mechanical equipment (e.g., a robot) including the mechanical mechanism based on the force sense values corrected in the force sense value corrector.

Abstract: A robot joint utilized in a robot arm is disclosed. The robot joint includes a hollow shaft, a first gear, plural motors, plural second gears, an encoder, and a digital signal processor. The first gear is fixed on the hollow shaft. The motors are arranged surrounding the hollow shaft. Each of the motors has a rotating shaft. The second gears are fixed on the rotating shaft and are engaged with the first gear, so that the hollow shaft can be rotated with the second gears driven by the motors. The encoder is disposed at a side of one of the motors opposite to the second gears. The signal detected by the encoder is sent to the digital signal processor for driving the motors. A robot arm using the robot joint is also disclosed.

Abstract: A robot control system according to an aspect of an embodiment includes a plurality of robots, at least one external axis, and converters. The robots perform axis behaviors. The external axes are a movable axis shared by the robots and are mutually connected to the robots. Each of the converters assumes a virtual robot formed by connecting all the external axes to the one robot and converts acquisition values on positions of the robot and the external axes acquired for the virtual robot into conversion values indicating absolute positions in a predetermined normal coordinate system.

Abstract: Methods, apparatuses, and systems for computer-aided tracking, navigation, and motion tracking. In one embodiment, a system for determining a spatial position, including a tracking device and a processor. The tracking devices has a working end, a reference end, a plurality of links connecting the working end to the reference end, wherein each link has at least one degree of freedom relative to an adjacent link, and a plurality of sensors measuring the orientation of the links in a plurality of degrees of freedom, wherein X is a minimum number of degrees of freedom about which information is required to define the spatial position. The processor receives information from the sensors and determine the spatial position of the working end of the tracking device relative to the reference end of the tracking device based on information from the sensors measuring Y degrees of freedom, wherein Y is greater than X.

Abstract: A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio ? of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ?P between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ?P, and repeating the rotation through correction steps until ?P is less than or equal to a maximum allowable deviation of the robot manipulator.

Abstract: A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.

Abstract: A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.

Abstract: A motor includes a rotor, a sensor unit, an offset unit, a rectification unit and a modulating unit. The sensor unit outputs a first signal in accordance with a magnetic field variation of the rotor. The offset unit is coupled to the sensor unit, and outputs a second signal in accordance with the first signal. The rectification unit is coupled to the offset unit, and outputs a third signal in accordance with the second signal. The modulating unit is coupled to the rectification unit, and outputs a control signal in accordance with a result by comparing the third signal with a periodic signal. The modulating unit controls a reverse rotation of the rotor smoothly in accordance with the control signal. A control method of the motor is also disclosed.

Abstract: A motor control device has a motor driving unit that drives a motor, a current detecting unit that detects a motor current flowing through the motor, a control unit that compares a detected current value of the motor current detected by the current detecting unit with a target current value to obtain a deviation, to control the motor driving unit based on the deviation, and a compensation unit that sets as a current offset value a detected current value of a drift current detected by the current detecting unit in a state where the motor current is regarded as zero, to compensate the detected current value of the motor current by the current offset value. The compensation unit sets a target offset value according to the current value of the detected drift current to correct the current offset value stepwise until the current offset value reaches the target offset value.

Abstract: A motor velocity control apparatus and method in which the velocity of a motor to drive a joint of a robot is controlled.

Abstract: A humanoid robot fall controller controls motion of a robot to minimize damage when it determines that a fall is unavoidable. The robot controller detects a state of the robot during the fall and determines a desired rotational velocity that will allow the robot to re-orient itself during the fall to land on a predetermined target body segment (e.g., a backpack). The predetermined target body segment can be specially designed to absorb the impact of the fall and protect important components of the robot.

Abstract: A sinusoidal command is added to a torque command of a controller to acquire a velocity and a current value of an electric motor. An estimated coupling torque value is calculated by calculating an input torque value from the current value and a torque constant of the electric motor and further calculating a coupling torque value from a velocity difference, motor inertia, and the input torque. An estimated torque error is then calculated from the estimated coupling torque value and the coupling torque value, and inertia, friction, and a spring constant are estimated from the estimated torque error, the velocity, and the coupling torque value.

Abstract: A host apparatus includes a command-pattern changing unit. A detector includes a detector-communication-parameter changing unit. A motor drive control apparatus includes a communication-parameter changing unit and a control-gain changing unit. The command-pattern changing unit, the detector-communication-parameter changing unit, and the communication-parameter changing unit change, based on determination of detector communication by a communication-abnormality determining unit, plural communication parameters, control gains, and command patterns, which are determined in advance, in synchronization with one another to control drive of a motor.

Abstract: A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.

Abstract: Controlling a digging operation of an industrial machine that includes a dipper, a crowd motor drive, and a controller. The crowd motor drive is configured to provide one or more control signals to a crowd motor, and the crowd motor is operable to provide a force to the dipper to move the dipper toward or away from a bank. The controller is connected to the crowd motor drive and is configured to monitor a characteristic of the industrial machine, identify an impact event associated with the dipper based on the monitored characteristic of the industrial machine, and set a crowd motoring torque limit for the crowd motor drive when the impact event is identified.

Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.

Abstract: A feedback system for controlling a servo motor comprising at least one rotary angle sensor and at least one rotary speed sensor, wherein the rotary angle sensor supplies a measured rotary angle value to a computer, wherein the rotary speed sensor supplies a measured rotary speed value to the computer, the actual rotary speed values are the measured rotary angle values interpolated according to the integrated measured rotary speed values, and wherein at high rotary speeds, the actual rotary speed values are the calibrated measured rotary angle values, differentiated with respect to time, and at low rotary speeds, the actual rotary speed values are the measured rotary speed values.

Abstract: A first angle-detecting unit outputs a first rotation angle according to the rotation angle of a rotation shaft of a servo motor. A second angle-detecting unit outputs a second rotation angle according to a rotation angle of a rotation shaft of a reduction gear. A torque calculation unit calculates the torque acting on the rotation shaft of the reduction gear according to the angle difference between the first rotation angle and the second rotation angle. An angle-control unit generates a torque reference value according to the difference between the angle reference value and the second rotation angle. A torque control unit generates a current reference value according to the difference between the torque reference value and the torque.

Abstract: In an adder circuit, a sine wave is added to a compensation signal which is generated based on a position detection signal of a member to be driven and for compensating a position of a lens which is the member to be driven. An absolute value integrating circuit integrates absolute values of signals before and after the adder circuit adds the sine wave. The two obtained integrated values are compared by a comparator circuit, and a gain adjusting circuit adjusts a gain of an amplifier which amplifies the compensation signal so that the two integrated values are equal to each other.

Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.

Abstract: First and second A/D converters perform analog/digital conversion of first and second signals of a Hall signal so as to generate third and fourth signals as digital signals. A differential conversion circuit generates a fifth signal as a single-ended signal that corresponds to the difference between the third and fourth signals. An offset correction circuit corrects offset of the fifth signal so as to generate a sixth signal. An amplitude control circuit stabilizes the amplitude of the sixth signal to a predetermined target value, and generates its absolute value, thus generating a seventh signal. A control signal generating unit generates a control signal based upon the seventh signal. A driver circuit drives a motor according to the control signal.

Abstract: In an embodiment of the present invention, with the purpose of more accurately calculating a disturbance torque generated by an external force acting on a robot, friction parameters contained in algorithms, such as a friction coefficient and a dead-zone threshold value, are dynamically changed based on the mode of operation, the operation speed, and the like. In this manner, a drive torque is estimated with high accuracy.

Abstract: A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount.

Abstract: A method for controlling positioning of an actuator having a wave gear device uses an exact linearization technique to compensate effects relative to positioning control of a load shaft caused by the non-linear spring characteristics of the wave gear device. A plant model is constructed from the actuator, and linearized using the exact linearization technique; measurements are taken of non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model ?g(?tw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the model and motor position of the model when a load acceleration command is a command value are entered into a processor arranged as a semi-closed loop control system for controlling positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command.

Abstract: A control circuit generates a driving signal indicating an actuator torque. A first operation unit generates position, speed, and acceleration signals, based upon a detection signal indicating the actuator mover state. A second operation unit generates a first difference signal indicating the difference between a target signal and the position signal. A third operation unit generates a second difference signal indicating the difference between signals based on the first difference signal and the speed signal. A fourth operation unit generates a position control signal such that the second difference signal becomes zero. A fifth operation unit generates a third difference signal indicating the difference between signals based on a driving signal and the acceleration signal. A sixth operation unit generates a driving signal by summing a signal based on the position control signal and a disturbance estimation signal based on the third difference signal.

Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.

Abstract: A numerical controller for controlling a multi-axis machine calculates an axis-dependent translation error amount and an axis-dependent rotation error amount based on a command axis position. Translation and rotation compensation amounts are calculated based on the axis dependent translation and rotation error amounts, respectively. The translation and rotation compensation amounts are added to command linear and rotary axis positions, respectively. Three linear axes and three rotary axes are driven to the added positions, individually. Thus, there is provided a numerical controller that enables even machining with a side face of a tool or boring to be in commanded tool position and posture (orientation) in the multi-axis machine.

Abstract: The invention relates to a motor arrangement (1) comprising a motor (4) on which a transmitter device (6) is arranged, a regulating device (2) which is spatially separated from the motor, communicates with the motor (4) via at least one motor line/connection line (10), and controls the movement of the motor, and at least one sensor device (8) which is arranged on the motor (4), detects at least one physical property of the motor, and emits a signal characterising said physical property, the transmitter device (6) being connected to the regulating device (2) via the connection line. According to the invention, there is a direct communication connection (9) between the sensor device (8) and the transmitter device (6), by which means the sensor device (8) transmits the characteristic signal directly to the transmitter device (6).

Abstract: A motor control apparatus includes a sub-controller including a two-degree-of-freedom repetitive compensator and a shaping filter. The two-degree-of-freedom repetitive compensator includes a forward delay placed in a forward route of a loop and a feedback delay placed in a feedback route thereof and is configured so that a total delay time provided by the forward delay and the feedback delay is equal to the cycle of a target command or a disturbance. The shaping filter is configured so that the product of the pulse transfer function of the two-degree-of-freedom repetitive compensator and the complementary sensitivity function of a general-purpose control system has a low-pass characteristic.

Abstract: An abnormality determination unit that determines whether or not an output measurement unit is abnormal is provided, and whether or not the output measurement unit is abnormal is determined. When the output measurement unit is abnormal, an elastic actuator is controlled based on a desired internal state decision unit and an internal state error compensation unit. Accordingly, it becomes possible to control the elastic actuator to continuously operate to a predetermined position without instantaneously stopping even when the output measurement unit is abnormal.

Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.

Abstract: Apparatus, methods, and computer storage media provide for the establishment of a parallel motor controller architecture and the dynamic reconfiguration of the architecture to redirect power to various motors according to the changing power load requirements of the motors. According to embodiments described herein, the present power load requirement for each motor of a group of motors is determined. The number of motor controllers to connect to each motor to provide the present power load requirement is then determined. A power switching network that connects the motor controllers to the motors is configured to connect the determined number of motor controllers to the corresponding motors. As the power load requirements of the motors changes, the power switching network is dynamically reconfigured to redirect power accordingly.