Abstract: A communication system includes at least one terminal device for acquiring at least information about a battery; and at least one management device. The management device communicates with the terminal device. One of the management device and the terminal device includes a multi-band communication device configured to perform communication using plural, different frequency bands. The other of the management device and the terminal device includes a specific communication device configured to perform communication using at least one frequency band among the plural, different frequency bands.

Abstract: A system for emergency shutdown of an electric charger in response to a disconnection is presented. The system includes a computing device, wherein the computing device is configured to receive a sensor datum from a sensor, determine a disruption element between a charging connector and an electric vehicle as a function of the sensor datum, and initiate a disconnection protocol as a function of the disruption element.

Abstract: An electric vehicle charging station (10) comprises a pillar (12) and a casing (14) for installing underground. The casing (14) has a base (26), a side wall (24) and a top (22) defining an inner space, an opening (28) being provided in the top (22) for receiving the pillar (12). The electric vehicle charging station (10) includes a power socket (30) for connection to a power supply and for receiving a power connector of an electric vehicle. The power socket (30) is joined to the pillar (12) and situated near a top end of the pillar (12), the bottom end of the pillar (12) is received in the opening (28) of the casing and the pillar (12) is movable between a retracted position for storing the pillar (12) within the inner space of the casing (14) below ground, and an extended position for supporting the power socket (30) outside the casing (14) above ground.

Abstract: A system for connecting a first ship to a second ship, the system having a plurality of target items coupled to the second ship, a camera module coupled to the first ship and configured to provide information comprising positions of images of the target items in a FOV, and a processor coupled to the camera module and a memory and configured to determine a first position and a first orientation of the second ship relative to the first ship.

Abstract: The present solution can execute a handshake process to establish a bidirectional session utilizing communications that can be implemented on EVs and chargers from various manufacturers. The present solution relates to a charger that can execute a handshake process communication between the charger and an electric vehicle to establish a session for bidirectional power delivery between the charger and the electric vehicle via a power cable. The charger can transmit, in the handshake process to the electric vehicle, a data structure comprising a field for a minimum current with a value for the field that is less than zero. The charger can configure, subsequent to transmission of the data structure comprising the value for the minimum current, the session for bidirectional power delivery between the charger and the electric vehicle via the power cable.

Abstract: In one embodiment, the present invention is directed to a method of transmitting information from an ear tip to a contact hearing device, the method comprising the steps of: exciting a transmit coil, the transmit coil being positioned in the ear tip, wherein the transmit coil is wound on a core, the core including a ferromagnetic material; radiating an electromagnetic field from the first coil through the ear canal of a user; receiving the radiated electromagnetic field at a receive coil, the receive coil being positioned on a contact hearing device, the contact hearing device including a receive coil without a ferrite core; and transmitting the information from the transmit coil to the receive coil using, for example, near-field radiation.

Abstract: A method for controlling an exchange of power between a charging infrastructure and an electricity supply grid is provided. A number of power units are formed as electric vehicle. Each power unit has a variable state of charge. From the individual states of charge of the power units, an overall state of charge can be determined. For the overall state of charge, a flexibility range in dependence on time can be predefined for a control time period. The flexibility range is spanned by a progression over time of an upper limit of the overall state of charge and a progression over time of a lower limit of the overall state of charge for the control time period. The flexibility range has range points which can be defined by a value of the overall state of charge and a point in time in the control time period.

Abstract: An electric vehicle includes a controller configured to receive sensor feedback from a high voltage storage device and from a low voltage storage device, compare the sensor feedback to operating limits of the respective high and low voltage storage device, determine, based on the comparison a total charging current to the high voltage storage device and to the low voltage storage device and a power split factor of the total charging current to the high voltage device and to the low voltage device, and regulate the total power to the low voltage storage device and the high voltage storage device based on the determination.

Abstract: A battery system includes a rechargeable energy storage system and a battery controller. The rechargeable energy storage system has a rapid charging mode and a discharging mode. The battery controller is electrically coupled to the rechargeable energy storage system and is configured to store multiple charging tables that contain multiple charge current limit entries, where each charging table corresponds to a unique one of multiple initial state-of-charge values, determine a starting state-of-charge value of the rechargeable energy storage system in response to entering the rapid charging mode, select up to two charging tables in response to the starting state-of-charge value of the rechargeable energy storage system being adjacent to up to two of the initial state-of-charge values, and control a charging current provided to the rechargeable energy storage system based on the charge current limit entries in the up to two charging tables as selected.

Abstract: An on-board charging management apparatus includes a vehicle-side earth line connected with an external-side earth line of an external power unit; a vehicle-side signal line connected with an external-side signal line of the external power unit; and a detection signal line configured to connect the vehicle-side signal line and the vehicle-side earth line. Presence or absence of a disconnection of the external-side earth line and the vehicle-side earth line is determined based on an electric current value or a voltage value of the detection signal line, when the external power unit is in a connected state. As a consequence, the on-board charging management apparatus can detect a disconnection of the earth line at the time of charging an on-board electric storage device.

Abstract: A charging system for quickly and securely performing charging operations of electric vehicles includes at least one electric vehicle, at least one power source, and at least one smart contract. The at least one electric vehicle includes at least one electrical energy store. The at least one power source is configured to charge the energy store. The charging parameters for a charging operation of the electrical energy store are negotiable between the electric vehicle and the power source. The negotiation of the charging parameters comprises determining a charging requirement of the electrical energy store by means of the electric vehicle. The charging operation of the electrical energy store is performable with the aid of a smart contract.

Abstract: The present disclosure relates to a method performed by battery charger configured to charge a vehicle battery, the method comprising initiating, at a first point in time (t_Bulk_Start), charging of the battery in a bulk charging mode, determining, at a second point in time (t_Bulk_End) subsequent to the first point in time (t_Bulk_Start), that the charging of the battery in the bulk charging mode is completed, estimating, at the second point in time (t_Bulk_End), a state of charge of the battery at the first point in time (t_Bulk_Start) when the charging of the battery in a bulk charging mode was initiated, initiating charging of the battery in a subsequent charging mode using the estimated state of charge (SoC_Bulk_Start), wherein the subsequent charging mode is selected from an absorption charging mode and a float charging mode.

Abstract: A method of controlling charge of a vehicle battery includes: determining, by a control unit, whether a high voltage battery and a low voltage battery are charged in a first charging mode, a second charging mode, or a third charging mode; and charging at least one of the high voltage battery or the low voltage battery by controlling a first full-bridge circuit unit, a second full-bridge circuit unit, and a low voltage direct current (DC) converter unit based on the determined first, second or third charging mode.

Abstract: A station constituted of: a control circuit; a first and a second bi-directional converter, each in communication with the control circuit, each arranged to be coupled to a respective plug-in electrical vehicle at a respective first port thereof; and a connection to an AC grid, wherein the control circuit is arranged to: draw electrical energy from a first plug-in electrical vehicle coupled to the first port of the first bi-directional converter; and provide at least some of the drawn electrical energy to a second plug-in electrical vehicle coupled to the first port of the second bi-directional converter.

Abstract: In order to ensure safe and reliable disconnection of charging cables from electric vehicles during occurrence of error conditions preventing normal disengagement of such charging cables, the systems and methods disclosed herein provide a vehicle charging system including a system controller configured to present via a display a user-selectable manual disconnection option when the vehicle is not receiving a charging current, receive an indication of a user selection of the manual disconnection option, and control a charge controller of the vehicle charging system to reset in order to terminate any charging session and to disengage the charging cable. In some embodiments, the charge controller may be configured or controlled to send a session termination signal to a vehicle charge controller of the vehicle either before resetting or as part of a startup process.

Abstract: Motor control systems and methods for micromobility transit vehicles are provided. A micromobility transit vehicle may include an electric motor configured to drive a rotation of a wheel. The electric motor may include a plurality of windings and a plurality of switching circuits. The switching circuits may be configured to selectively direct current from a power supply through the windings to generate a torque by the electric motor to drive the rotation of the wheel in response to associated control signals. The switching circuits may be configured to passively bypass the windings in response to an interruption of the control signals. Depletion of the power supply may result in the interruption of the control signals.

Abstract: A method for operating a charging column, in which a plurality of electric vehicles that are simultaneously connected at respective connections of the charging column are charged by means of a charging control of the charging column, wherein the charging control charges the simultaneously connected electric vehicles exclusively individually. In addition, the invention relates to a charging column with a plurality of connections for the simultaneous connection of a plurality of electric vehicles.

Abstract: A system for regulating charging of an electric aircraft includes a charging connector and a controller communicatively connected to the charging connector. The charging connector includes a housing, at least a conductor, and at least a control signal conductor. The housing is configured to mate with an electric aircraft port of an electric aircraft. The at least a conductor is configured to conduct a current. The at least a control signal conductor is configured to conduct a control signal. The controller is configured to receive a voltage datum from the electric aircraft, and regulate a charging voltage, as a function of the voltage datum, to the electric aircraft. Regulation of the charging voltage includes charging at least a battery of the electric aircraft in a plurality of phases including a first charging phase at a constant current and a second charging phase at a constant voltage.

Abstract: A system for charging a battery carried by a vehicle may include a charging box for coupling to a vehicle chassis and including interface electrical contacts electrically coupled to the battery. The system may also include a charge coupler including coupler electrical contacts for electrically coupling to the interface electrical contacts from under the vehicle and configured to be coupled to an electrical power supply. The charging box may include an interface activation surface, and the charge coupler may include a housing for enclosing the coupler electrical contacts and including a base for supporting the coupler electrical contacts, a coupler activation surface opposite the base, an opening, and a door configured to open the opening to expose the coupler electrical contacts as the interface activation surface contacts the coupler activation surface and moves the coupler activation surface toward the base.

Abstract: Unmanned aerial vehicle (UAV) systems are described that determine when to automatically transfer telemetry data from a UAV to a ground-based computing device by monitoring one or more context states of the UAV. In some examples, a UAV system includes a UAV; a ground-based computing device; and processing circuitry configured to acquire data from one or more sensors on the UAV; store the data at a local storage device on the UAV; maintain a state machine configured to monitor one or more context states of the UAV system; determine, based on the one or more context states, that a current situation of the UAV system meets minimum criteria for transferring the data from the UAV to the ground-based computing device; and automatically transfer, based on the determination, the data from the UAV to the ground-based computing device.

Abstract: A vehicle-side charging circuit includes an AC-voltage interface, a rectifier connected thereto and at least one first and one second DC-to-DC converter. The DC-to-DC converters are electrically isolating, and each have at least one intermediate circuit capacitor and at least one switch unit. The charging circuit also includes an on-board electrical system connection. The rectifier is connected to the on-board electrical system connection by way of the DC-to-DC converters. The charging circuit has a switch device which connects the DC-to-DC converters so as to be switchable between one another. In a first switching state, the switching device connects the two intermediate circuit capacitors and the switching units of the DC-to-DC converters in parallel and, in a second switching state, connects the intermediate circuit capacitors and the switch units in series.

Abstract: Embodiments of a method and/or system for charging one or more electric vehicles (e.g., based on one or more reserved charging sessions; for charging an electric vehicle during a scheduled time period; etc.) can include: receiving a reservation request (e.g., a reservation request including one or more reservation parameters; etc.); scheduling a reserved charging session based on the reservation request (e.g., based on reservation parameters from the reservation request; etc.); determining a check in at an Electric Vehicle Service Equipment (EVSE) for the reserved charging session; and/or causing the EVSE to charge the electric vehicle based on the reserved charging session (e.g., during the scheduled time period; etc.).

Abstract: To reduce an increase in the electric power consumption of an electric motor according to the state of an electric power source at the start of driving of an actuator, and make it possible to use devices in an appropriate state in an electrically driven hydraulic construction machine including a driving system that drives a hydraulic pump by using the electric motor.

Abstract: A diagnostic arrangement (200) for a charging park has plural components and a network arrangement. The components include a central gateway (270), at least one control device (280) and a diagnostic database (290) arranged at the central gateway. The diagnostic database contains files or data for diagnosis of the at least one control device. The network arrangement makes a core network available between the components. The at least one control device is connected via the core network to the central gateway. The network arrangement also has a backend server having a backend database with the same diagnostic information as the diagnostic database of the central gateway and is connected to the central gateway. A database extract (220) provides a list (201) of available diagnostics. The at least one control device has apparatus for diagnosis and/or conveying at least one value (208) regarding at least one status of the control device.

Abstract: A cable that can be used for bidirectional power transmission between a vehicle provided with a driving power source and a power consumer includes: a receiving unit that: communicates with a power-amount acquiring device that is installed at the power consumer, and acquires an amount of power transferred between the power consumer and a power network; and receives identification information of the power consumer; a measuring unit that measures a transmission power amount of power transmitted between the vehicle and the power consumer through the cable; and a transmission information sending unit that sends, to an external managing apparatus that manages an amount of power transmission between the vehicle and the power consumer, the identification information of the power consumer, and information indicating the transmission power amount measured by the measuring unit.

Abstract: A vehicle charging circuit includes an AC voltage connection that has a plurality of potentials, a switch device, a plurality of rectifiers that are each in the form of a bridge rectifier, a plurality of step-up converters, and a plurality of galvanically isolating DC-DC converters. Inputs of the rectifiers are connected to one other. The interconnected inputs of the rectifiers are connected to the AC voltage connection via the switch device. The rectifiers each have an output, downstream of each of which is connected one of the step-up converters. The step-up converters are connected to a rechargeable battery connection of the vehicle charging circuit.

Abstract: A system for analyzing energy usage measures one or more parameters indicative of energy usage for a plurality of sub-circuits, where the sampling rate for the measuring is substantially continuous, and automatically transmits information related to at least one of the measured parameters at a rate that enables monitoring of current energy usage. The system further detects a significant change in a measured parameter, determines whether the significant change in the measured parameter is caused by a change in energy usage, and automatically transmits information related to the significant change in the measured parameter caused by the change in energy usage after detecting the significant change.

Abstract: A method is provided for implementing electric-shock protection in a transformer-free AC charging device (202). The method includes supplying an input end of the AC charging device (202) with alternating current from a charging socket (122), providing the output end of the AC charging device (202) with direct current (106) for charging a high-voltage battery, and using the peripheral charge controller (220) for controlling the charging socket (122). The peripheral charge controller (220) is arranged within a housing of the AC charging device (202).

Abstract: A vehicle includes a battery, an electric power acquirer, a relay, a power supply unit, and a controller. The controller is able to switch a mode of electric power transmission to a direct transmission mode on the first condition that electric power is transmitted from the electric power acquirer to the battery and the power supply unit is in continuous operation or starts up. The direct transmission mode includes that the relay is in a disconnected state and electric power is transmitted from the electric power acquirer to the power supply unit.

Abstract: An embodiment relates to a charging control apparatus and a charging control method for an electric vehicle. A charging control apparatus according to an embodiment comprises: a proximity detection port to which a proximity signal from a connector of a charging cable is input; a first proximity detection interface for generating a first proximity detection signal on the basis of the proximity signal; a controller for determining whether the connector of the charging cable is in proximity, on the basis of the first proximity detection signal; and a relay disposed between the proximity detection port and the first proximity detection interface and providing a proximity identification signal to the controller on the basis of a control by the controller.

Abstract: In an aspect the current disclosure may describe a electric charging station for an electric vehicle. The electric charging station may include a charging cable, wherein the charging cable is configured to carry electricity and an energy source, wherein the energy source is electrically connected to the charging cable. The charging station may further include a temperature sensor, wherein the temperature sensor is configured to generate temperature datum and a computing device. A computing device may be communicatively connected to the plurality of temperature regulating elements and the temperature sensor. The computing device may further be configured to receive the battery datum and regulate battery temperature and cabin temperature using the plurality of temperature regulating elements as a function of the temperature datum.

Abstract: An assembly includes a movable door assembly and a heating element. The movable door assembly is configured to be disposed on an exterior of a vehicle. The heating element is coupled to the movable door assembly, and is configured to receive energy from a battery disposed on the vehicle and to heat at least a portion of the movable door assembly.

Abstract: A switching power supply device according to an embodiment of the present disclosure includes: power supply circuits corresponding to phases of a polyphase AC power supply as an external power supply; a switching circuit configured to switch a connection destination of another power supply circuit other than a specific power supply circuit corresponding to a specific phase of the external power supply among the power supply circuits to a phase corresponding to the other power supply circuit or the specific phase; and a control unit configured to connect, to each phase of the external power supply connected to the switching power supply device, the other power supply circuit corresponding to the phase, and connect the other power supply circuit as a surplus to the specific phase when the number of phases of the external power supply is smaller than the number of the power supply circuits.

Abstract: In external charging, a first threshold voltage and a second threshold voltage which is lower than the first threshold voltage are set. The ECU permits start of charging of a battery when a voltage of the battery is lower than the second threshold voltage. The ECU stops charging of the battery and notifies the user that the battery has been fully charged using an HMI when the voltage of the battery is higher than the first threshold voltage during charging of the battery. The ECU notifies the user that the battery has been fully charged using the HMI when the voltage of the battery after charging of the battery has been stopped is lower than the first threshold voltage and is higher than the second threshold voltage.

Abstract: A vehicle connection device of a vehicle battery charging system has a vehicle contact unit including a base with a contacting area in which at least one first contact electrode, at least one second contact electrode and at least one third contact electrode are provided. The vehicle connection device is moveable towards the ground contact unit in a contact direction (RK) and an aligning actuator of the vehicle connection device is connected to the base in such a way that it can rotate the base about an axis of rotation that runs substantially in the contact direction (RK). Moreover, a ground contact unit, an automatic vehicle coupling system as well as a method for automatically, conductively connecting a vehicle contact unit to a ground contact unit.

Abstract: Methods, apparatus, systems, and articles of manufacture are disclosed to house a vehicle, including a first container leg disposed on a first corner of a first container, a second container leg disposed on a second corner of the first container, a third container leg disposed on a third corner of the first container, a fourth container leg disposed on a fourth corner of the first container, at least one of the first, second, third, and fourth container legs each having an upper portion with a ramped receiving slot and a lower portion with a first ramped foot, and wherein the ramped receiving slot is to receive a protrusion associated with a second ramped foot of a second container different from the first container.

Abstract: An apparatus for controlling locking of a charging inlet includes a charging inlet including an input device configured to be provided at a position where pressurization is determined based on a type of a connector of a charging cable and to be engaged with the connector, an on board charger (OBC) configured to generate an inlet unlocking signal when the input device is pressurized by the connector, and a controller configured to unlock the charging inlet when the inlet unlocking signal is received.

Abstract: A system for managing automated charging, the automated charging management system is provided. The system comprises a charging cord management device, a charging cord connector, a power supply, a device, a first charging cord, and a second charging cord. The charging cord management device is configured to locate the power supply. The charging cord management device is configured to align the second charging cord and the charging cord connector with the power supply. The charging cord connector is configured to be in contact with the power supply without user interaction.

Abstract: An article of manufacture for providing an onboard vehicle recharging environment according to the present invention is disclosed. A Continuous Onboard Recharging Environment (CORE) translates mechanical rotational energy obtained from the rotating axles of a vehicle to a form of sufficient voltage and load amperage to facilitate the charging of an Electric Vehicle's battery system while the vehicle is in operation, thus reducing or removing the need for external charging.

Abstract: A charge head is connected to a charge inlet of an electric vehicle to supply an electric charge to recharge the battery of the vehicle. The charge head is attached to a connecting device that moves the charge head to the charge inlet. Multiple light detectors are provided on the charge head to sense light emitted from the vehicle. The system then uses a difference in the amount of light received by different light detectors to determine a direction to move the charge head toward the charge inlet.

Abstract: Various disclosed embodiments include illustrative controller units, direct current fast charging (DCFC) units, and methods. In an illustrative embodiment, a controller unit includes a controller and a memory configured to store computer-executable instructions. The computer-executable instructions are configured to cause the controller to determine status of a power electronics module (PEM) of a direct current fast charging (DCFC) unit, and instruct the PEM to control power quality of a three-phase alternating current (AC) grid power signal in response to the determined status being available.

Abstract: A chargeability presenting method which includes before start of transmitting first electric power to an electric vehicle, wirelessly supplying second electric power to a charging space, detecting whether heat is generated by a foreign object in the charging space after the second electric power is transmitted, and before start of transmitting the first electric power, presenting chargeability information that is generated based on vehicle presence information and foreign object information, the vehicle presence information indicating whether the charging space is vacant, and the foreign object information indicating whether the heat is detected in the charging space.

Abstract: A method of operating a charging system may include connecting the charging system to a power grid with a plurality of phases, measuring a plurality of phase currents of the plurality of phases at a balance point, and transmitting a plurality of performance targets to a plurality of electrical consumers connected to one of a plurality of charging points of the charging system. The method may also include changing a performance target of the plurality of performance targets for each of the plurality of charging points individually for a predetermined test time interval and measuring a corresponding change of the plurality of phase currents at the balance point. The method may further include, based on the corresponding change of the plurality of phase currents, determining whether an electrical consumer charges with a significant current and whether the electrical consumer could charge with a higher current.

Abstract: A method and to a device for charging a battery for a means of transport. The method comprises the steps of: ascertaining an open-circuit voltage of the battery (30) on the basis of a voltage ramp that is generated by a controllable DC-to-DC converter (40) that is electrically connected to the battery (30), ascertaining a differential internal resistance of the battery (30) on the basis of a predefined model for the differential internal resistance of the battery (30) and the open-circuit voltage, ascertaining a target value for an output voltage of the DC-to-DC converter (40) on the basis of the open-circuit voltage of the battery (30), a predefined charging current of the battery (30) and the differential internal resistance of the battery (30), and charging the battery (30) using the target value for the output voltage in the DC-to-DC converter (40).

Abstract: A controller in a vehicle includes an obtaining unit that obtains facility information on a charging facility that can charge a power storage mounted on the vehicle, the facility information including position information and utility information in association with each other, the position information indicating a position of the charging facility, the utility information indicating an electric utility that manages the charging facility. The controller further includes at least one of a first notification unit and a second notification unit. The first notification unit causes a notification apparatus to give first information that indicates an electric utility, by using the facility information obtained by the obtaining unit. The second notification unit causes the notification apparatus to give second information that indicates a position of a charging facility, by using the facility information obtained by the obtaining unit.

Abstract: An adapter for converting a dumb charger into a smart charger includes a first input interface for interconnecting the adapter with a first charging connector of the dumb charger. A second input interface interconnects the adapter with a second charging connector of an electric device. A wireless communications interface provides wireless connectivity to the adapter. The wireless connectivity is initiated responsive to connection of the first input interface with the first charging connector of the dumb charger. Control circuitry interconnects the first input interface with the second input interface. The control circuitry provides a power connection for selectively providing power from the first input interface to the second input interface responsive to commands received over the wireless communications interface.

Abstract: Electric aircraft charging system including charging cable configured to carry electricity and energy source, wherein the energy source is electrically connected to the charging cable. The system also including a cable reel module, the cable reel module including a reel, wherein the reel is rotatably mounted to the cable reel module, wherein the reel is configured to rotate in a forward direction and a reverse direction, and the charging cable, in a stowed configuration, is wound around the reel. The cable reel module further including a rotation mechanism configured to rotate the reel in reverse, and a cable reel module door having a closed position and an open position, wherein the closed position prevents access to the reel and the open position allows access to the reel. The system additionally including a controller communicatively connected to the rotation mechanism and configured to send a retraction signal to the rotation mechanism.

Abstract: Provided are a charging device and a vehicle capable of reducing the amount of noise flowing into a quick-charging facility. The pair of charging lines connecting the quick-charging facility (20) to an onboard battery (30) are referred to as quick-charging lines, and each of these quick-charging lines is provided with a relay (16-1, 16-2). Each relay (16-1, 16-2) is used to switch the current flowing in the respective quick-charging line on and off, the current being switched on during quick-charge and being switched off during normal charging. Each quick-charging line has a Y-capacitor (17) connected thereto closer to a QC port (15) than the respective relay (16-1, 16-2).

Abstract: A system for charger management for electrical vertical takeoff and landing aircrafts includes a sensor connected to the first charger. The sensor is configured to detect a battery metric and transmit the metric to a computing device. The computing device is connected to a mesh network. The mesh network contains many aircrafts connected to chargers. The charger management system manages the charging of the aircraft.

Abstract: A system for charging an electric aircraft including a vertical cable arrangement, the system including a charger. The charger including an energy source, a charging cable electrically connected to the energy source, and a vertical cable arrangement. The vertical cable arrangement has a first cable arrangement position wherein the vertical cable arrangement is located at a first elevation, and has a second cable arrangement position, wherein the vertical cable arrangement is located at a second elevation, wherein the second elevation is greater than the first elevation. The charger also includes a lift connected to the vertical cable arrangement. The lift has a first lift position and a second lift position. When the lift is in the first lift position, the vertical cable arrangement is in the first cable arrangement position. When the lift is in the second lift position, the vertical cable arrangement is in the second cable arrangement position.