Abstract: An adapter assembly for a robot arm includes: an inner shaft configured to receive a tool supply cable therethrough and configured to attach to the tool supply cable; an outer member disposed annularly around the inner shaft and attached thereto in a telescopic configuration with the inner shaft movable with the tool supply cable between a retracted position and an extended position; and a compression spring configured to bias the inner shaft to the retracted position. A robotic assembly includes: a robotic arm including at least two linkages configured to articulate relative to each other; a tool attached to the robotic arm; a tool supply cable extending along the robotic arm for providing functionality to the tool; and an adapter assembly connected to the robotic arm. The adapter assembly includes a spring bias toward a retracted position, thereby taking-up slack in the tool supply cable.

Abstract: A smart pipe segment for use in construction of a pipeline. The smart pipe segment includes a pipe body and a sensing nerve network that is associated with the pipe body and is configured to monitor a condition of the pipe segment in real-time. The sensing nerve network comprises optical nerves, electrical nerves or a combination thereof.

Abstract: A pipe replacement system and cable guide frame are shown. Configurations are shown that include plurality of guide pulleys attached to the cable guide frame to define a curved path between a pipe to be replaced and a cable pulling system. Configurations are shown where a pipe breaking tool is pulled over the plurality of guide pulleys for ease of removal after a replacement operation. Configurations are also shown that include a stationary splitter adjacent to the cable pulling system to prevent jamming of the cable pulling system.

Abstract: The present techniques are directed to systems and methods for forming a pipe-conforming structure. The pipe-conforming structure includes a polymer material and one or more optic fibers embedded within the polymer material. The polymer material is formed into a structure that is conformed to the shape of a pipe. A method includes forming a polymer material into a structure including an edge region and a center region. The center region has a greater thickness than the edge region. The method includes inserting one or more optic fibers into the polymer material.

Abstract: A method of removing a metallic cable core that extends through an outer cable sheath of a length of data transmission cable is disclosed. The core is surrounded by a filler material contained within the outer cable sheath as an integral part of the cable. The method comprises the steps of resistively heating the core by supplying electric current to it to reduce the viscosity of the surrounding polymer material; and pulling the core out of one end of the outer cable sheath while the viscosity of the filler material is in a reduced state.

Abstract: Methods, systems, and apparatuses that facilitate installation of a communications cable, e.g., an optical fiber cable, are disclosed. The system may include a communications cable and an adhesive for securing the cable to a surface. The method may include the use of an adhesive to secure the communications cable to a surface. The apparatus may include a pathway to avoid over-bending of the communications cable, which may otherwise result in transmission loss and compromise the performance of the cable.

Abstract: The present techniques are directed to systems and methods for forming a pipe-conforming structure. The pipe-conforming structure includes a polymer material and one or more optic fibers embedded within the polymer material. The polymer material is formed into a structure that is conformed to the shape of a pipe. A method includes forming a polymer material into a structure including an edge region and a center region. The center region has a greater thickness than the edge region. The method includes inserting one or more optic fibers into the polymer material.

Abstract: The present invention provides an apparatus and method for recovering the core (108) of a subterranean sheathed electrical cable (106), while minimising the impact on the surrounding environment. The apparatus comprises a ram (102) operable to exert a pushing force on the core of a length of the cable, a plurality of linkages, each linkage being configured to be insertable into the cable along its length under the action of the ram to displace the core relative to an outer sheath of the cable, and a puller operable (104) to exert a pulling force on the core to thereby facilitate removal of the displaced core from the outer sheath by action of the pushing/pulling forces. The apparatus and method are found to be particularly suited to the recovery of high-tension copper core cables, while enabling any hydrocarbon (e.g. oil) impregnated inner sheathing to be controllably disposed of without hazard to the environment.

Abstract: According to the present invention there is provided a method for installing a sensing cable along a pipeline, comprising the steps of, attaching one or more conduits to an outer-surface of a pipe which is to be installed in a bore hole to form a pipeline assembly; moving the pipeline assembly into the bore hole; moving an fiber optic sensing cable into one or more of the conduit after the pipeline assembly has been moved into the bore hole or before the pipeline assembly has been moved into the bore hole. There is further provided a corresponding pipeline assembly, and a attachment head which can facilitate attachment of a pulling line to a pipeline assembly.

Abstract: A method of forming a protection system and a protection system for a secondary conduit adapted to be coupled to a main conduit is disclosed. The main conduit and the secondary conduit are for installation below the sea surface. The method includes spooling onto a reel an elongate member in a first configuration for transportation and/or storage until such a time that it is ready to be deployed. The first configuration is a substantially planar configuration. The method also includes paying the elongate member out from the spool and causing or allowing the elongate member to adopt a second configuration and form the protection system for the secondary conduit. The second configuration is a substantially non-planar configuration. The elongate member is coupled to an external surface of the main conduit.

Abstract: Adaptors for use with snakes/adaptors locating offsets or main lines in pressurized natural gas systems and methods of making/using the adaptors are described. The snake adaptors contain a stub pipe, a fitting, a bushing, and a cap compressing the bushing around a snake, forming an air-tight fit between the bushing and cap and between the bushing and snake. The snake adaptors help locate a gas main by closing the gas valve, attaching an adaptor to the gas valve, opening the gas valve, and extending a snake through the adaptor and gas valve until an end of the snake contacts the gas main. The position of the snake within the adaptor is marked when the end of the snake contacts the gas main, the snake is removed from the valve, and the marked position then used to determine the location of the gas main. Other embodiments are described.

Abstract: An apparatus for moving an elongate component within or through a sidewall of a pit, including a lever arm having a handle at a first end and a gripping arrangement for gripping the elongate component at a second end, the lever arm being pivotably attached to a frame via a sleeve and arranged in use to be pivoted about a pivot point by moving the first, handle, end through an arc, and movement translation means for translating the pivoting movement of the lever arm at the first end into a substantially linear movement at the second, gripping, end.

Abstract: A method for repairing and strengthening pipes by creating a structural reinforced composite liner within the existing pipe. The liner is created by helically winding a tensile reinforcement material on the inside wall of a pipe and encapsulating it in a hardening matrix material. The reinforcement material is helically wound around the inside wall of the pipe by an installation device. The installation device is configured to relieve and/or prevent the development of torsional stress in the reinforcement material that is created by the act of helically winding it onto the inside wall of a pipe, allowing the reinforcement material to lay flat against the pipe wall without twisting or buckling. The structural reinforced composite can be configured to supplement the strength of the existing pipe or to function as a stand-alone pipe within the existing pipe.

Abstract: A pipe replacement system and cable guide frame are shown. Configurations are shown that include plurality of guide pulleys attached to the cable guide frame to define a curved path between a pipe to be replaced and a cable pulling system. Configurations are shown where a pipe breaking tool is pulled over the plurality of guide pulleys for ease of removal after a replacement operation. Configurations are also shown that include a stationary splitter adjacent to the cable pulling system to prevent jamming of the cable pulling system.

Abstract: A method for making a coiled insulated conductor heater to heat a subsurface formation includes pushing the insulated conductor heater longitudinally inside a flexible conduit using pressure. One or more cups are coupled to the outside of the insulated conductor heater. The cups maintain at least some pressure inside at least a portion of the flexible conduit as the insulated conductor heater is pushed inside the flexible conduit. The flexible conduit and the insulated conductor heater are coiled onto a coiled tubing rig.

Abstract: An apparatus for moving an elongate component within or through one of a plurality of sidewalls of a pit, including a gripping arrangement for releasably gripping the elongate component, a lever arm comprising a handle at a first end and the gripping arrangement at the second end, and a frame to which the lever arm is attached, wherein during use the frame is positioned substantially above the pit, and the gripping arrangement hangs downwardly from the frame into the pit.

Abstract: An apparatus for moving an elongate component within or through a sidewall of a pit, including a lever arm having a handle at a first end and a gripping arrangement for gripping the elongate component at a second end, the lever arm being pivotably attached to a frame via a sleeve and arranged in use to be pivoted about a pivot point by moving the first, handle, end through an arc, and movement translation means for translating the pivoting movement of the lever arm at the first end into a substantially linear movement at the second, gripping, end.

Abstract: A cable guide device for a manhole includes a wall supporting plate supported against a wall surface of an entrance part of the manhole, a cable guide body positioned at the bottom part of the wall supporting plate, a rotation shaft mounted vertically to the cable guide body and the wall supporting plate so that the cable guide body can be rotated from side to side with regard to the wall supporting plate, and at least one guide roller which rotates integrally with a roller shaft combined with the cable guide body so as to guide the cable into at least one underground pipe.

Abstract: Apparatuses and methods are disclosed for mounting conduits within spacers for underground installation. Spacers for side loading of conduit, as opposed to older methods of end loading, allow construction workers to easily assemble conduits to a plurality of spacers above-ground. The side loading technique uses spacers having bores that communicate with each other, preferably in a radial manner. Thus, a first plurality of conduits may be assembled or mounted to an inner portion of the spacers and then at least a second plurality of conduits may be assembled and mounted to an outer portion of the spacers. Cables later pulled through the conduits are typically those used for the transmission of electricity or communication signals. Other embodiments use bores that do not communicate with each other but are secured to the spacers with an outer banding saddle.

Abstract: A cable cup can be mounted in an optimal location on the wall of an otherwise inaccessible duct, so that, above all, inlets into the duct are not obstructed. A mounting device has a carriage that is movable in the longitudinal direction of the duct. A supporting unit for the cable cup is mounted on the carriage. A carrier is pivotally connected to the carriage via a longitudinal shaft. A directing unit supports the cable cup and is movable toward the wall of the duct. A drilling device and a screwdriver device are longitudinally movable on the shaft. By pivoting the support and thus the directing unit, the cable cup is fixed in the desired position on the wall, a hole is drilled through the cable cup and into the wall of the duct and a screw is screwed into the hole by the screwdriver device.

Abstract: The object is to provide a construction method of an information-communicable underground pipe whereby communication cables can be readily laid in an underground pipeline having a main pipe and branch pipes branched therefrom thereby allowing the underground pipeline to be used as an information-communicable underground pipe, and to provide a construction structure and a construction member therefor.

Abstract: A laying method for laying communication cables (16) is provided which allows to lay optical fiber cables (20) in an underground pipeline such as a sewage pipe neither placing direct tension nor allowing slack on them, and for a main pipe in which a plurality of optical fiber cables (20) are to be laid, the method also allows to lay optical fiber cables (20) in the upper space of inside the pipeline and to obviate the need of an expensive robot for the laying operation. In the proposed laying method, a high-strength low-elongation tension member is disposed to be slidable in the lengthwise direction along each optical fiber cable (20, 21, 22), and the tension members (25, 26, 27) are drawn into the underground pipeline (1) to tension the trunk tension member (25) thereby stretching the trunk tension member (25) substantially straight in the underground pipeline (1), and thus the optical fiber cables (20, 21, 22) are laid in the upper space of inside the underground pipeline (1).

Abstract: The invention concerns a method for setting medium or high power electric cables (2) in the ground, which consists in digging a trench (14) evacuating the materials derived from the trench (14) towards a treatment device, for example by crushing, depositing at least a duct or an assembly of three installation ducts in the trench (14), backfilling the trench (14) with the treated materials and setting in said installation duct (1), at least a medium or high power electric cable (2) by pushing it while injecting water (6a) under pressure into the installation duct (1) so as to use the water (6a) as carrier and discharge fluid for the heat energy resulting from friction between the cable (2) and the installation duct (1).

Abstract: A cable system and method including a cable or a microduct provided within the groove extending vertically into, but not through, a pavement. The cable has a central strength member, at least one buffer tube stranded around the central strength member, an outer jacket surrounding the buffer tube and central strength member, and at least one transmission element provided within said at least one buffer tube. Provided within the microduct is a microduct cable including at least one transmission element. A cable including a central strength member, at least one buffer tube stranded around the central strength member, an outer jacket surrounding the buffer tube and central strength member, and at least one transmission element provided within said at least one buffer tube. The cable has a longitudinal thermal expansion force due to a change in temperature from 20° C. to 70° C. of less than 305 lbs when constrained.

Abstract: Supports for routing cables in existing pipelines are flexible cable supports containing minimally one hollow passage to receive a cable, and are installed between an existing pipeline inner wall and a structural liner. The cable supports have an elongate cross-section transverse to their length and are of sufficient flexibility to conform to the interior wall of the pipeline.

Abstract: When a glass fiber cable emerging from a main channel (1) is guided into a domestic channel line (2), in order to prevent this glass fiber cable from unacceptably having an excessively small radius of curvature in the direction-changing area (6), and thus being damaged, and in order to ensure that the glass fiber cable (3) is in the correct position, this glass fiber cable (3) is guided in a rigid guide tube (7) whose longitudinal axis runs essentially along a cylindrical envelope surface in its central section (7??). The rigid guide tube (7) is fixed in a pipe connecting stub (10) which can be widened elastically and thus, after insertion into the domestic channel line (2), rests on the wall thereof in a stressed manner, and is fixed in its position. That end of the guide tube (7) which projects into the domestic channel line (2) is connected via a sleeve (8) to a flexible pipe, tube (5) or the like.

Abstract: A method of installing a cable or conduit into at least one plastic pipe of a fluid carrying pipeline system, comprises attaching a first saddle fitting at a first location on said plastic pipe by electro-fusion, opening the pipe at the first location, introducing the cable or a pull body through the saddle fitting into the pipe towards a second location or retrieving at least part of the cable or a pull body introduced at a second location, and pulling the cable directly or by means of the pull body through the pipe. This allows installation of a cable without turning off the fluid supply.

Abstract: In order to facilitate, and largely to automate, the installation of cable supports on a duct wall, an installation vehicle can be displaced in the duct. The vehicle has a basic body which contains a storage battery and on which are mounted wheels. At least one of the wheels is driven by an integrated wheel-hub motor. Carriers for supporting seats for the operators are provided on opposite end sides of the basic body and the individual subassemblies are controlled via a control box on the basic body. A platform, which can be raised by a hydraulic cylinder carries pivoting brackets. The pivoting brackets carry slides for percussion drills, which can be displaced into their operating position, in the direction of the duct wall, by way of a pneumatic spring and moved, counter to the force of the spring, into a rest position.

Abstract: The object is to provide a construction method of an information-communicable underground pipe whereby communication cables can be readily laid in an underground pipeline having a main pipe and branch pipes branched therefrom thereby allowing the underground pipeline to be used as an information-communicable underground pipe, and to provide a construction structure and a construction member therefor.

Abstract: A cable for laying in plastic tubes for transporting gas or water is described that comprises a cable core assembly and a plastic sheath surrounding the cable core assembly, in which cable the plastic used for the plastic tube and the plastic for the sheath can be welded together.

Abstract: A method for placing a tube (11) made of plastic material within a conduit (12) in operation, comprising the stages of inundating the conduit with a liquid, then insert the tube with its initial end placed in the inundated portion, so that it slides along the conduit, while the hydrostatic impulse reduces the sliding effort. Equipment for placement of a tube (11) made of plastic material within a conduit (12) in operation, comprising a pair of collectors (15, 115), each one counting on a connection (16, 116) for the fixation of sealing to a respective end of a portion of conduit (12). Each collector comprises a fragment of tube of entry/exit (17, 117) disposed inclined with an obtuse angle in relation to the axle of the respective end of the conduit, in order to stimulate and allow the passage of the tube in the conduit, and the nozzle (18, 118) of the fragment of the tube being at high above the conduit.

Abstract: For the purpose of fastening cables to the inner wall of a non-accessible waste-water pipe, an internal liner has been developed, which is constructed from at least two layers, the first layer, which rests against the internal wall of the pipe when in the laid condition, having a profile or empty spaces for receiving cables, and a second layer, of envelope-like type, which carries the first layer.

Abstract: A device according to the present invention is used to lay line elements such as electric and/or fluid lines between a stationary housing and a moving housing. The device includes a double pipe structure having an inner pipe member and an outer pipe member. The outer pipe member is attached to the moving housing and rotatably supported by the stationary housing. The inner and outer pipe members are arranged in a generally coaxial relationship and coupled to each other by a coupling member. The line elements, which extend between a holding portion on the stationary housing and a holding portion on the moving housing, are divided into first and second groups, and the first group of line elements is laid to extend through an inner hole of said inner pipe member while the second group of line elements is laid to extend through an annular gap formed between the inner and outer pipe members.

Abstract: A canal or pipe system and process for rehabilitation of a canal or pipe system and for installation of a cable or empty tube into a canal or pipe system as well as device for installation of a cable or empty tube. For rehabilitation of a canal or pipe system (AR) an outer casing (AL1) is inserted. Subsequently, an inner casing (IL1) with help by distancing elements (AH) is inserted, so that a ring gap (RS) between the inner and outer casings (IL1, AL1) is created. A cable (OC1) or empty tube (LR) to be installed is inserted together with the inner casing (IL1) in such a way, that the cable (OC1) or empty tube (LR) comes to rest in the ring gap (RS). For rehabilitation of the canal or pipe system, where a cable (OC1) or empty tube (LR) is already installed at an inner wall (IW), only the inner casing (IL1) will be inserted into the canal or pipe system (AR), so that the ring gap (RS) is created between the inner wall (IW) and the casing (IL1).

Abstract: An apparatus for and method of installing a cable in ducting from a location intermediate the length of the ducting. The cable is provided in a coil at the location and some cable is passed from one end of the coil into a first portion of the ducting extending from the location to one end of the ducting. The remaining cable is passed from the other end of the coil into a second portion of the ducting extending from the location to the other end of the ducting.

Abstract: Carriers and support means for routing cable structures in existing pipelines are disclosed, the carriers comprising coiled or folded cylinders or section thereof bearing or adapted to bear a cable support means are disclosed, as well as a method of fixing such carriers to the interior of pipelines, and routing cable structures by means of such devices and methods.

Abstract: A method of introducing a fiber optic conduit into a pressurized gas pipeline includes the step of introducing a translating member into the pressurized gas pipeline via an entry port in a first drilling nipple attached to the pressurized gas pipeline. Tools are deployed within a first pressure lock housing attached to the first drilling nipple by using a first manipulator located in the first air lock housing. The duct rod is advanced within pressurized gas pipeline by a driving mechanism, until a second drilling nipple is reached. The translating member is attached to a fiber optic conduit. The duct rod and fiber optic conduit are then pulled back or pulled forward through the pressurized gas pipeline by the driving mechanism. A conduit is installed in a gas service line, to line the cable or conduit in a natural gas main pipeline to a telecommunications panel in a building.

Abstract: Carriers and support means for routing cable structures in existing pipelines are disclosed, the carriers comprising coiled or folded cylinders or sections thereof bearing or adapted to bear a cable support means are disclosed, as well as a method of fixing such carriers to the interior of pipelines, and routing cable structures by means of such devices and methods.

Abstract: A gas pipe explorer formed of a plurality of connecting elements, and an articulation element between the connected elements. The connected elements include drive capabilities, and the articulation element allows the connected elements to traverse gas pipes of arbitrary shapes and sizes. A sensor may sends the characteristics of the gas pipe, and the communication element may send back those sends characteristics. The communication can be wired, over a tether connecting the device to a remote end. Alternatively, the connection can be wireless, driven by either a generator or a battery.

Abstract: A method of routing a new pipe duct into an existing pressurized gas pipeline includes the step of introducing a translating member into the pressurized gas pipeline via an entry port in a first fitting attached to the pressurized gas pipeline. The translating member, such as a duct rod, is advanced within the pressurized gas pipeline by a driving mechanism, until it reaches second fitting. The translating member is attached to a pipe inner duct. The duct rod and pipe inner duct are then pulled back through the pressurized gas pipeline by the driving mechanism.

Abstract: A method, system and tools for introducing a fiber optic conduit into a pressurized gas pipeline includes the step of introducing a translating member into the pressurized gas pipeline via an entry port in a first fitting attached to the pressurized gas pipeline. Tools are deployed within a first pressure lock housing attached to the first fitting by using a first manipulator located in the first air lock housing. The translating member, such as a duct rod, is advanced within the pressurized gas pipeline by a driving mechanism until a second drilling fitting is reached. The translating member is attached to a fiber optic conduit or cable. The duct rod and fiber optic conduit are then pulled back through the pressurized gas pipeline. Extractor tools extending through seals in the pressure lock housing engage with and withdraw the duct rod. Alternatively, first and second duct rods may be pushed towards each other from the first and second fittings. End elements on the duct rods engage each other.

Abstract: A method of introducing a fiber optic conduit into a pressurized gas pipeline includes the step of introducing a translating member into the pressurized gas pipeline via an entry port in a first drilling fitting (18) (8, 70, 250, 300) attached to the pressurized gas pipeline. Tools are deployed within a first pressure lock housing (30) attached to the first drilling fitting by using a first manipulator (34) located in the first air lock housing. The duct rod is advanced within pressurized gas pipeline by a driving mechanism (60), until a second drilling fitting (80) is reached. The translating member is attached to a fiber optic conduit or cable. The duct rod and fiber optic conduit are then pulled back through the pressurized gas pipeline by the driving mechanism. A conduit or cable is installed in a gas service line, to provide an optical fiber between an optical fiber trunk line or ring and building.

Abstract: A canal or pipe system and process for rehabilitation of a canal or pipe system and for installation of a cable or empty tube into a canal or pipe system as well as device for installation of a cable or empty tube.

Abstract: An impactor for use with a directional boring machine for replacement of underground pipes includes a bursting head having a rearwardly opening recess and a front end opening that communicates with the recess. An inlet pipe is connected at its front end to a distal end of the drill string and extends into the recess of the bursting head through the front end opening. A striker is mounted for sliding movement along the inlet pipe, and a distributing mechanism responsive to pressure fluid supplied through the drill string and inlet pipe causes the striker to reciprocate in the rearwardly opening recess of the head to deliver forward impacts against the bursting head. The striker and distributing mechanism are mounted in a tubular housing, and a pulling connection is provided by which the impactor can be pulled by the drill string while the striker is delivering impacts against the head in the same direction as a pulling force exerted by the drill string.

Abstract: An antikink device that is especially useful in sewage systems for installing pipes (15), in particular light wave guide cables. The device comprises a deflection element (1) that can be secured by a bracket (2) and that deflects pipes (15) arriving from a first direction to a second direction. The bracket (2) comprises a first angular element (4) that can be connected with a second angular element (5) and that includes in a first plane an adjustable angle, and that in turn includes an adjustable angle with a base plate (3) that can be mounted on a supporting surface and a second plane that is at least approximately perpendicular to the first plane, the deflection element (1) being mounted on the second angular element. The bracket (2) can be easily mounted and the deflection element (1) can be easily brought in the desired position and fixed.

Abstract: In a method of laying a cable, or a pipe for the subsequent introduction of a cable, in a fresh-water conduit, the surface of the cable or pipe is cleaned during the laying process immediately before entering the fresh-water conduit.

Abstract: A method of installing fibre optic cables consists of cutting a shallow and narrow trench or channel within a road surface or building wall. A narrow fibre optic cable is laid within the channel, and subsequently covered with a patch material. A branching cable network is provided by cutting at periodic and selected locations, a slightly broader and deeper region of the channel, within which cable loops and/or junction boxes are installed. The nodes may consist of branching nodes, or alternatively non-branching nodes containing a cable loop and/or junction box, the installation of which at a location permits a junction node to be formed at a close by location. The invention also consists of a junction box for use with the system.

Abstract: One or more electric and/or data transmitting cables are confined in an elongated strip-shaped body containing a hardenable resin or the like, and the body is placed against a portion of the internal surface of an underground sewage, water or other pipe. An expandible tubular liner is thereupon introduced into the pipe and is expanded to press the body against the pipe. The body is caused to set, by conveying a hot fluid through the liner and/or by electrically heating the cable or cables, and to adhere to the internal surface of the pipe. The liner can remain in the pipe and can be bonded to the strip-shaped body and/or to the remaining portion of the internal surface of the pipe. Alternatively, the liner is caused to collapse and is withdrawn from the pipe once the strip-shaped body is bonded to the internal surface of the pipe.

Abstract: In a method of installing a cable in ducting from a location (60) intermediate the length of the ducting, the cable is provided in a coil (62) at the location and some cable (64) is passed from one end of the coil into a first portion of the ducting extending from the location to one end of the ducting and the remaining cable (66) is passed from the other end of the coil into a second portion of the ducting extending from the location to the other end of the ducting.

Abstract: A method of introducing a fiber optic conduit into a pressurized gas pipeline includes the step of introducing a translating member into the pressurized gas pipeline via an entry port in a first drilling nipple attached to the pressurized gas pipeline. Tools are deployed within a first pressure lock housing attached to the first drilling nipple by using a first manipulator located in the first air lock housing. The duct rod is advanced within pressurized gas pipeline by a driving mechanism, until a second drilling nipple is reached. The translating member is attached to a fiber optic conduit. The duct rod and fiber optic conduit are then pulled back or pulled forward through the pressurized gas pipeline by the driving mechanism.