Abstract: A robot safety device, which is provided between a drive shaft of a robot and an actuator for driving the drive shaft and prevents unexpected action to a user positioned around the robot, and in which such a possibility that a robot damages a person is detected and the detection is utilized as a trigger to quickly stop the driving force for the robot. The device is provided with a transmission part which transmits to the drive shaft an output from the actuator, an acceleration operation corresponding part which mechanically generates corresponding to the transmission accelerating operation of the transmission part caused by the actuator, regulation auxiliary force for regulating the operation of the transmission part caused by the output from the actuator, and a regulation part which is driven by the regulation auxiliary force generated by the accelerating operation corresponding part and regulates the operation of the transmission part.

Abstract: A method and apparatus generating and tracing a cleaning trajectory of a home cleaning robot the method including: controlling the home cleaning robot to straightly travel as much as a set distance from the docking station and then rotationally travel, maintaining the set distance from the docking station, until the home cleaning robot reaches one of two walls; controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance until it reaches one of the two walls; and repeatedly controlling the home cleaning robot to travel as much as the set distance along the wall if the home cleaning robot reaches the wall and resume rotational-traveling around the docking station, maintaining a distance between the docking station and the home cleaning robot increased by the set distance un

Abstract: A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle.

Abstract: A path risk evaluating apparatus includes a secondary collision likelihood direction evaluating unit (108) and a secondary collision likelihood distance evaluating unit (109) which evaluate, based on the relationship between a movement path and a position of objects in an environment where a mobile device moves, the likelihood of the mobile device having primary collision with a first object and the first object further having secondary collision with a second object; a risky attribute combination evaluating unit (112) which determines degree of damage when secondary collision occurs, by referring to information, indicating degree of damage when objects in the environment collide, held by a risky attribute combination information holding unit (111); and a path evaluating unit (113) which evaluates the risk of the moving path for the mobile device, based on the evaluation result from the secondary collision likelihood direction evaluating unit (108) and the secondary collision likelihood distance evaluating un

Abstract: A control device for controlling the movement of a machine determines a base position set value according to a given base track in space. By limitation of a base element of a machine therewith, the above is hence positionally moved along a base track. The control device further determines a corresponding current supplementary end position in space using the base position set value. The control device also determines a supplementary position set value from a given fixed supplementary start position in space and the current supplementary end position. By limitation of a supplementary element of the machine thereto, the above is thus displaced along an current supplementary track from the supplementary start position, to the current supplementary end position.

Abstract: A method of controlling movement of a mobile robot for realizing safe and appropriate accompanying behavior to follow an accompanied target includes detecting at least a position of the accompanied target, and controlling the movement of the mobile robot, based on the detected position of the accompanied target, so that the mobile robot moves along a path that is parallel to a moving direction of the accompanied target.

Abstract: A behavior control system for a robot apparatus that operates autonomously. The behavior control system includes a plurality of behavior description sections for describing motions of the robot and an external environment recognition section. The system also includes an internal state management section for managing an internal state of the robot in response to the recognized external environment and/or a result of execution of a behavior, and for managing emotions. A behavior evaluation section evaluates execution of behaviors in response to the external environment and/or the internal state.

Abstract: A robot uses an infrared sensor including an infrared light source which produces pulses of infrared light. Optics focus reflections of the infrared light pulses from different portions of the environment of the robot to different detectors in a 2D array of detectors. The detectors produce an indication of the distance to the closest object in an associated portion of the environment. The robot can use the indications to determine features in the environment. The robot can be controlled to avoid these features.

Abstract: A partial surface of a total surface, divided into several partial surfaces, is allocated to one of several mobile units by determining the partial surface of the total surface and allocating one of the several mobile units with a reservation. The mobile unit transmits allocation information indicating the allocation of the partial surface. The reservation is lifted and the allocation of the partial surface is validated when the one of the several mobile units receives no allocation rejection information from at least one of the other mobile units, indicating a rejection of the allocation of the partial surface. If rejection information is received, the reservation is lifted and the allocation of the partial surface is invalidated.

Abstract: An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit 3, which detects an obstacle, a route producer unit 7, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of

Abstract: A robot cleaner system is disclosed. The robot cleaner system includes a robot cleaner to carry out a cleaning operation while automatically traveling around along a surface to be cleaned, and a charging station connectable with the robot cleaner to charge a charging battery mounted in the robot cleaner with electricity. The charging station includes a setting switch to selectively set up a value of threshold height.

Abstract: An apparatus and method is disclosed for protection of a machine-controlled handling appliance having moving parts, having a safety sensor system for detection of objects in the working area of the handling appliance, having a safety controller which interacts with the handling appliance controller and in the process controls safety-relevant handling appliance functions as a function of signals from the safety sensor system. The safety sensor system has non-contacting proximity sensors so that a safety-relevant part of the working area of the handling appliance is covered by the detection areas of the proximity sensors.

Abstract: The present invention provides an obstacle avoiding apparatus, an obstacle avoiding method, an obstacle avoiding program, and a mobile robot apparatus that can accurately model a robot apparatus and plan a highly precise moving route for the robot apparatus that avoids obstacles.

Abstract: In a robot, a first determining unit determines whether there is an interference region in which a first occupation region and a second occupation region are at least partially overlapped with each other. A second determining determines whether a second movable part of another robot is at least partially located in the interference region based on an actual position of the second movable part. A stopping unit begins stopping, at a predetermined timing, movement of the first movable part if it is determined that there is the interference region, and that the second movable part is at least partially located in the interference region. The predetermined timing is determined based on a positional relationship between an actual position of the first movable part and the interference region.

Abstract: A brain-based device (BBD) for moving in a real-world environment has sensors that provide data about the environment, actuators to move the BBD, and a hybrid controller which includes a neural controller having a simulated nervous system being a model of selected areas of the human brain and a non-neural controller based on a computational algorithmic network. The neural controller and non-neural controller interact with one another to control movement of the BBD.

Abstract: A system for automated adaption of a process parameter of a handling device includes a supervision device configured to selectively monitor at least one process parameter and/or to adapt the at least one process parameter of the handling device in an automated manner based on specifications and/or the environment and/or in a rule-based manner in interaction with a control/regulation device, wherein environment/safety-specific specifications and/or regulations are complied with and/or implemented irrespective of the type of a respective working process, wherein the system is configured to interact with the control/regulation device configured to monitor, control and/or regulate the handling device.

Abstract: A control method for a robot cleaner that includes: driving a driving part to move the robot cleaner by a predetermined distance in an opposite direction to a proceeding direction thereof when a bumper sensor detects a collision with an obstacle, measuring the number of times in which the robot cleaner repeats moving in real-time, comparing the measured number with a predetermined reference number, and stopping the robot cleaner when the measured number is more than the reference number. With this method, the robot cleaner can diagnose a breakdown of the bumper sensor to stop the cleaner, and inform a user of the breakdown.

Abstract: A system and method is disclosed for controlling a robot having at least two legs, the robot falling down from an upright posture and the robot located near a plurality of surrounding objects. A plurality of predicted fall directions of the robot are determined, where each predicted fall direction is associated with a foot placement strategy, such as taking a step, for avoiding the surrounding objects. The degree to which each predicted fall direction avoids the surrounding objects is determined. A best strategy is selected from the various foot placement strategies based on the degree to which the associated fall direction avoids the surrounding objects. The robot is controlled to implement this best strategy.

Abstract: In an autonomous vehicle, position of a planar obstacle such as a wall or a fence having apertures is determined. A horizontal plane is scanned with a laser range tinder so as to acquire positional coordinates of a plurality of scanning points. An element vector is formed with each two scanning points so that one acquired former is used as a start point and the other acquired later as an end point of the vector. A plurality of continuous element vectors which satisfy predetermined conditions is selected among the element vectors, and a scanning segment vector is formed by composition of the selected element vectors. When a length of the scanning segment vector is equal to or longer than a predetermined length, it is possible to recognize that a planar obstacle exists along the scanning segment vector.

Abstract: A control unit for a machine tool at least one vibration detection device attached to a main shaft portion of a machine tool or a movable body; a storage device for storing a vibration signal detected by the vibration detection device being related to operation information of the machine tool; a collision judgment device for judging that a collision has occurred; and an output device for outputting the vibration signal at the time of judging the occurring of the collision. By the above constitution, the control unit is capable of grasping a specific circumstance of collision and quickly determining a cause of collision.

Abstract: A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision.

Abstract: A self propelled upright vacuum cleaner is provided with a Hall effect sensor to provide a Hall voltage that varies according to the position of a handgrip maintained by the vacuum cleaner. A microprocessor generates a PWM control signal to control the movement of the vacuum based on the magnitude of the Hall voltage with respect to various response characteristics, including a non-linear logistic function. As such, the vacuum cleaner imparts a user-friendly responsiveness to the user during the operation of the vacuum cleaner.

Abstract: A robot system includes a robot including a movable portion, a plurality of transmitters that is provided on the movable portion and transmits wireless signals, three or more receivers receiving the wireless signals transmitted from each of the transmitters, and a position calculating unit detecting locations of the transmitters based on the wireless signals that the plurality of the receivers receives. In the system, the position calculating unit detects a pose of the robot from information on the locations of the detected plurality of the transmitters.

Abstract: A system for lapping gear sets with a ring gear and a pinion gear. The system includes a lapping machine tool and a robot. The lapping machine tool has a first spindle and a second spindle. The second spindle is rotatable about an axis that is generally perpendicular to a rotational axis of the first spindle. The lapping machine tool has a loading zone for loading the first and second spindles. The robot has an end effector with a first end that is configured to hold one of the gear sets. The robot is configured to position the first end of the end effector into the loading zone and to load the first gear set to the lapping machine tool without removing the end effector from the loading zone such that the ring gear is loaded onto the first spindle and the pinion gear is loaded onto the second spindle.

Abstract: A conveyance apparatus includes conveyance robots provided for sequential assembly processes. Each of the robots conveys, based on a tact system, work pieces for the respective assembly processes, by simultaneously reciprocating the work pieces with a single mechanism. The work pieces are sequentially assembled on an assembly line after placed at the most upstream side thereof. The apparatus further includes control units respectively provided for the conveyance robots and control time sequences for reciprocating motions of the respective conveyance robots in a linked manner. The control unit for controlling a first conveyance robot receives, from the control unit for controlling a second conveyance robot, position information of the second conveyance robot positioned frontward in a moving direction of the first conveyance robot, thereby detecting presence of a risk of a collision with the second conveyance robot, and causing the first conveyance robot to avoid the collision when the risk exists.

Abstract: An object is to provide a method for teaching the position of a semiconductor wafer automatically and accurately without relying on the sight of an operator as well as a teaching jig that is used for the above method. To this end, in the invention, a teaching jig 11 is detected by a first transmission-type sensor 6 that is provided at the tips of a wafer gripping portion 5 of a robot. The teaching jig 11 is composed of a large disc portion 12 that is the same in outer diameter as a semiconductor wafer and a small disc portion 13 that is concentric with the large disc portion 12. The teaching jig 21 is detected by a second transmission-type sensor 18 that is provided on the wafer gripping portion 5. The second transmission-type sensor 18 is mounted on a sensor jig 15 so as to be detachable form the wafer gripping portion 5.

Abstract: Displacements of respective joints corresponding to respective joint elements (J9 and the like) of a rigid link model (S1) representing a two-legged walking mobile body (1) are sequentially grasped. Also at the same time, values, in a body coordinate system (BC), of an acceleration vector of the origin of the body coordinate system (BC) fixed to a waist (6) as a rigid element, a floor reaction force vector acting on each leg (2), and a position vector of the point of application of the floor reaction force vector are sequentially grasped. With the use of the grasped values, joint moments respectively generated in an ankle joint (13), a knee joint (14), and a hip joint (9) of each leg (2) are sequentially estimated based on an inverse dynamics model using the body coordinate system. The estimation accuracy of the joint moments of the leg can be enhanced by reducing arithmetic processing using tilt information of the two-legged walking mobile body relative to the gravity direction as much as possible.

Abstract: When an autonomous mobile apparatus moves autonomously along near a master and there is an object in the surrounding environment recognized by a camera and a communication device and the like, a danger level detecting portion detects a danger level of the object to the master, and an actuator controlling portion and an electric motor move the autonomous mobile apparatus based on the danger level. As a result, the autonomous mobile apparatus moves autonomously along near the master, as well as detects the danger level to the master and moves based on the danger level. Accordingly, the autonomous mobile apparatus can move in a manner so as to ensure the safety of the master taking this danger level into account.

Abstract: An obstacle and cliff avoiding system is disclosed, which is substantially a movable chassis having at least a displacement sensor arranged thereon. In a preferred embodiment, each displacement sensor is tilted by a specific angle with respect to a surface detected thereby while being driven to move in circle by a rotating apparatus for enabling the same to scan a defined fan-like area or the circular area around the chassis in a circulating manner. As each displacement sensor is tilted by the specific angle and is initiated to issue a working signal, the paths of signal emission and reception of each sensor are defined by the specific angle, whereas the reflected working signal received by the sensor is sent to a control unit to be compared with the working signal so that the control unit is able to evaluate whether there is an obstacle or a drop in front of the moving direction of the movable chassis and thus control the chassis to maneuver around the obstacle or the drop.

Abstract: One embodiment of the present invention provides a method for gathering information from an environment. In a first step, visual information is gathered from the environment. In a second step, information actively transmitted by objects in the environment is received. According to one embodiment, the information actively transmitted by objects in the environment is received wirelessly. In a third step, the visual information is combined with the received information in order to recognize objects.

Abstract: The possibilities of collision of a mobile robot with objects can be reduced significantly in actual robot movements. In an aspect of the present invention, there is provided an autonomous mobile robot system including a mobile robot and a computing system. The mobile robot includes: a sensing section for measuring surrounding conditions of the mobile robot; a position-posture estimating section for estimating position-posture data from sensing data obtained by the sensing section and an environmental map; and a robot moving section for controlling movements of the mobile robot according to movement control data determined from the position-posture data thus estimated and movement route data.

Abstract: A system and method for controlling avoiding collisions in a workcell containing multiple robots is provided. The system includes a sequence of instructions residing on a controller for execution thereon to perform an interference check automatic zone method. The interference check automatic zone method includes the steps of: determining a first portion of a common space that is occupied during a movement of a first robot along a first programmed path; determining a second portion of the common space that is occupied during a movement of a second robot along a second programmed path; comparing the first portion and the second portion to determine if an overlap exists therebetween; and moving the first robot and the second robot in response to whether or not the overlap exists.

Abstract: A simulation method for optimizing transport displacement of workpieces in transfer presses is provided. Conclusions relating to the freedom of motion, number of strokes and program data for tool-specific machine control are determined by manipulating a displacement curve on a digital image of the transfer press which is determined by the simulation method.

Abstract: An apparatus and a method for detecting a position of a mobile robot in accordance with the present invention can accurately detect a position of a mobile robot by calculating time taken for each ultrasonic signal generated by ultrasonic signal oscillating means of a charging station to reach the mobile robot on the basis of a point of time at which an RF (Radio Frequency) signal emitted from the mobile robot is generated; calculating a distance between the charging station and the mobile robot based on the calculated reaching time; and calculating an angle between the charging station and the mobile robot based on the calculated distance value and a preset distance value between the ultrasonic signal oscillating means.

Abstract: A system and process is provided for controlling a robot path of a robot including providing a main path for movement of the robot based on path data having points along the main path and providing a safe evacuation path from each point in the main path to get to a safe position. The main path is formed with safety evacuation path considerations in mind such that along any point on ride path the robot can be safely moved to a safety point or to the unload position or safe position.

Abstract: A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

Abstract: A control system for controlling the movements of a plurality of mechanical units. The control system includes a program that includes a plurality of mechanical unit programs. Each program includes movement instructions for at least one of the mechanical units. The control system also includes a plurality of path planners. At least one of the path planners is adapted to receive instructions from more than one of the mechanical unit programs and on basis thereof determine how the mechanical units should move in order to synchronize their movements. The control system further includes switches adapted to switch a mechanical unit program from one path planner to another, whereby the movements of the mechanical units are synchronized when their mechanical unit programs are connected to the same path planner and the movements of the mechanical units are independent when their mechanical unit programs are connected to different path planners.

Abstract: A method and an electronic search system for operating an automatic device, preferably an automatic lawnmower. The system comprises at least one first electrical cable (1,4,5,6) connected to at least one first signal generator (3,7,8) and at least one sensing system arranged on said device. Said sensing system detects at least one magnetic field being transmitted via said cable (1,4,5,6) and propagating through the air, the sensing system transmitting a processed signal to at least one driving element which contributes to the movements of said device in relation to a surface.

Abstract: A mine vehicle and a method of preventing a mine vehicle from colliding. The mine vehicle (1) includes at least one scanner (13, 14) to scan the environment in front of the vehicle. On the basis of the scanning, an obstacle-free route is determined whose outermost points in a sideward direction are stored as memory points (21). At least one sideward safe area (15b) has been predetermined around the vehicle (1). A control system checks that no memory point (21) resides within the safe area (15b).

Abstract: In modern industrial robots which move at considerable speeds, collisions generally cause serious damage to the robots and the collision objects. This can lead to injuries and expensive production stoppages. In a method for collision-free interaction between a machine having mobile machine elements and objects in its vicinity, safety regions are established and monitored using the knowledge of the current position and the dynamic behavior. In particular, image data of the mobile machine element are recorded by means of an image acquisition system and are correlated with a database, which has been compiled in a training phase with image data of at least one mobile machine element. The database contains image data relating to a plurality of movement phases within the movement process of the machine.

Abstract: A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.

Abstract: An industrial robot including a manipulator, a control unit for controlling the manipulator, a portable operating unit for teaching and manually operating the robot, which operating unit is adapted for wireless communication with the control unit, and an emergency stop unit. The emergency stop unit is arranged movable and the portable operating unit includes a first receiving member for receiving the emergency stop unit.

Abstract: The present invention relates to an obstacle detection device, adapted for an autonomous mobile system, which comprises: a conducting wire, a first unit and a second unit. The first unit further comprises a first conducting part, electrically connected to an end of the conducting wire; and the second unit further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As an abnormality, such as the autonomous mobile system comes into contact with an obstacle, or misses a step, is happening and detected by the obstacle detection device, a reactive force will be generated to force the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the abnormality.

Abstract: The present disclosure relates to an arrangement and an electronic navigational control system for a self-propelling device (5), preferably a lawn-mowing robot. The system comprises at lease one navigational control system (3) connected to at least one signal generator (1) and a sensing unit arranged at the self-propelling device (5). The sensing unit senses at least one, in the air medium propagating, time and space varying magnetic field, at least transmitted via the navigational control station (3) and in turn retransmits at least one signal processed by the unit to at least one driving source which contributes to the device's movements across the surface. The system comprises structure by which the signal generator (1) sends a current through the navigational control station (3), the current generating the time and space varying magnetic field, whereby the sensing unit comprises structure by which the device (5) is maneuvered based on the properties of the sensed magnetic field.

Abstract: A mobile apparatus or the like capable of moving or acting by avoiding contact with an object, such as a person, while reducing the possibility of inducing a change of the behavior of the object. It is determined whether or not there is a first spatial element Q1 that satisfies a contact condition that there is a possibility of contact with a reference spatial element Q0 on a discriminant plane. The reference spatial element Q0 and the first spatial element Q1 represent current images of a robot 1 and an object x, respectively. When it is determined that there is a first spatial element Q1 that satisfies the contact condition on the discriminant plane, a route that allows the reference spatial element Q0 to move by avoiding contact with a second spatial element Q2 is set as a new “first action plan element” on the discriminant plane.

Abstract: A robot calibration system and method for robots in semiconductor wafer processing systems is disclosed. The calibration system comprises a calibration array, a dummy wafer and a control system programmed with a calibration routine. The calibration array has an plurality of inductive proximity sensors to determine parallelism of the robot relative to a station and a center locating sensor to determine the center of the station.

Abstract: A system, method, and computer program product for avoiding collision of a body segment with other structures in an articulated system are described. According to one aspect, a collision function is determined for avoiding such collision. A distance between the body segment and one such structure is measured. A weighting matrix is generated based on the collision function and the distance, and used to determine a redirected motion for the body segment. The body segment is redirected based on the redirected motion to avoid colliding with the structure.

Abstract: A method and a system for controlling a plurality of manipulators with a large number of control units associated with the manipulators in such a way that each control unit controls at least one manipulator, are characterized in that an operating device accesses several control units for controlling the manipulators. Thus, it is possible according to the invention to operate even very closely juxtaposed manipulators without any crossing and interlacing of the connecting channels between the operating devices and control units which would prevent a reliable association in operation. The invention also makes it possible for only one operator to operate cooperating robots.

Abstract: The system includes a sensor for detecting a state of a space; a robot for executing a handling job for an article; an article identifying part for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensor; and an article handling subject identifying part for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot, the article handling subject identifying part identifies a subject having issued a job instruction to the robot as the article handling subject.

Abstract: A method for controlling a painting system including an industrial robot or manipulator arm arranged with a wrist section and carrying a paint applicator arranged on the robot wrist is described. Paint is applied by the applicator to a substantially circular or elliptical area on the surface, the center of the area being defined as a Tool Center Point. The wrist section is arranged capable of moving and orienting the paint applicator. In the method, the paint applicator is moved by the manipulator arm so that the Tool Center Point moves along a planned path so coating a part of the surface. The planned path may include one or more bends. The path taken by the robot wrist may be controlled to follow a different path from the path taken by the Tool Center Point. A system and a computer program for carrying out the method are also described.