Abstract: One aspect of this disclosure relates to locating at least one position of at least one mote device; and affecting at least one presentation based at least in part on the at least one position of the at least one mote device. Another aspect of this disclosure relates to sensing at least one position of an item at least partially using at least one mote device; and affecting at least one indication of the at least one position at least partially using the at least one mote device based at least in part on the sensing the at least one position of the item. Yet another aspect of this disclosure relates to causing the at least one mobile mote device to displace itself; and affecting at least one presentation with the at least one mobile mote device based at least in part on the causing at least one mobile mote device to displace itself.

Abstract: In one embodiment, a technique for controlling one or more devices within a physical room of a structure is provided. One or more devices in the structure are coupled, either directly or indirectly, to a programmable multimedia controller configured to issue control commands which, when implemented, change the state of the devices. A virtual room-based user interface is displayed on a display screen. The virtual room-based user interface may include one or more virtual rooms, each virtual room including a substantially photo-realistic depiction of a portion of the structure, including substantially photo-realistic depictions of one or more devices located within the portion of the structure. In response to the selection of a particular substantially photo-realistic visual depiction, the programmable multimedia controller may issue control commands which, when implemented, change the state of a particular device. The appearance of the particular virtual room may be updated to reflect the changed state.

Abstract: An apparatus is configured with one or more sensors arranged to detect a first shape-related parameter, one or more control elements arranged to provide a force, and circuitry operably connected to the one or more sensors and the one or more control elements to determine the force provided to the one or more control elements.

Abstract: A consumable holder is provided for use in an appliance configured to perform an operation cycle related to a consumable in the consumable holder. The consumable holder has or is enabled to acquire information associated with itself or the consumable, and further includes a converter configured to transform the information to a cycle structure. Thus, the consumable holder can communicate with a cycle engine to create or modify a cycle structure for use by the appliance to perform an operation cycle related to the consumable.

Abstract: The disclosure provides an auxiliary controller of a HVAC system, a method of manufacturing a HVAC system, a method of starting a HVAC system and a HVAC system. In one embodiment, the HVAC system includes: (1) a main system controller having a main non-volatile memory and configured to direct operation of the HVAC system and store main controller application information associated therewith on the main non-volatile memory (2) an auxiliary controller having (2A) an interface coupled to the main system controller and configured to communicate therewith, (2B) a processor, coupled to the interface and configured to direct the operation of a component of the HVAC system and (2C) an auxiliary non-volatile memory configured to receive a copy of the main controller application information via the interface and store the main controller application information thereon.

Abstract: A computer numerical control (CNC) machine includes a case, a communication plug, a first switch, a number of second switches, and a control circuit. The control circuit includes a first switch control unit to receive a first switch signal from the first switch, a second switch control unit to receive second switch signals from the second switches, a control unit, a command signal converting unit, a pulse signal generating unit, and an operation signal output unit. The control unit receives the first and second switch signals, determines the work mode of the CNC machine according to the first switch signal, and convert the second switch signals to command signals. The command signal converting unit converts the command signals into operation signals. The pulse signal generating unit generates pulse signals. The operation signal output unit outputs the operation signals and the pulse signals to the CNC machine via the communication plug.

Abstract: Secure data write apparatus and methods for use in safety instrumented process control systems select a parameter associated with a process control element within the process control system and send first data associated with the parameter to the process control element. A confirmation associated with a request to write the first data to the process control element is received from a user and the second data is sent to the process control element in response to receiving the confirmation. The first and second data are compared at the process control element and the first or second data are written to a location in the process control element associated with the parameter if the first and second data are at least substantially identical.

Abstract: A radio controlled (RC) aircraft includes a receiver that is coupled to receive an RF signal from a remote control device, the RF signal containing command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of the remote control device. A motion sensing module generates motion data based on the motion of the RC aircraft. A processing module transforms the command data into control data in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC aircraft. A plurality of control devices control the motion of the RC aircraft based on the control data. In an embodiment, a remote control device commands the RC helicopter to substantially a hovering state when no force is applied to each of a plurality of spring-loaded interface devices.

Abstract: A system that facilitates managing resources (e.g., functionality, services) based at least in part upon an established context. More particularly, a context determination component can be employed to establish a context by processing sensor inputs or learning/inferring a user action/preference. Once the context is established via context determination component, a power/mode management component can be employed to activate and/or mask resources in accordance with the established context. The power and mode management of the device can extend life of a power source (e.g., battery) and mask functionality in accordance with a user and/or device state.

Abstract: A mobile system and method of operation thereof, comprising a radio frequency system, adapted to derive information relating to a position within an environment, based on communications with at least one terrestrial or extraterrestrial transmitter, and remotely transmit to and receive radio frequency information-bearing communications; a memory adapted to store at least a vehicle itinerary or position-related information; a controller, receiving the derived information and controlling a communication of the information-bearing communications relating to at least the stored itinerary or position related information; and a user interface, having a functionality defined by the controller, adapted to interface a user for receipt or presentation of information relating at least one of the itinerary or position-related information and the communicated information.

Abstract: A method of causing movement of at least one target device based on at least one of a plurality of motion programs stored on a content server connected to a network. At least one identified characteristic of the at least one target device is identified. At least one selected motion program is selected from the plurality of motion programs stored on the content server. The at least one identified characteristic and the at least one selected motion program are transferred to the motion server. A motion media data set is generated at the motion server for the target motion device based on the at least one identified characteristic of the target device and the at least one selected motion program. The motion media data set is transferred from the motion server to the target motion device to cause the target device to perform the desired sequence of movements.

Abstract: An apparatus is configured with one or more sensors arranged to detect a first shape-related parameter, one or more control elements arranged to provide a force, and circuitry operably connected to the one or more sensors and the one or more control elements to determine the force provided to the one or more control elements.

Abstract: A system and method is provided for monitoring, collecting, storing, transmitting, calculating and uploading to a secure web server real-time balancing solutions for at least the N1 Low Pressure Compressor portion of a jet engine. The method comprises collecting a series of engine vibration data strings and transmitting a data string set to a ground stations for conditioning, formatting and forwarding to a source for calculating and providing fan balance solutions to a secure server wherein the data strings comprise at least phase angle of imbalance data, N1 RPM and the magnitude of the N1 vibration. The balance solution determined comprises the required weight (mass) and location of weight (mass) installation necessary to correct a fan imbalance in a turbine engine.

Abstract: A laser optical device, having: a laser light emitting section to emit laser signal light modulated by information; a laser light receiving section to receive the laser signal light emitted from the laser light emitting section; a light condensing optical unit to conduct the laser signal light emitted from the laser light emitting section to the laser light receiving section; an actuator to move the light condensing optical unit; a light intensity detecting section to detect an intensity of the laser signal light conducted to the laser light receiving section; and a control section to control drive of the actuator so as to align the laser signal light conducted by the light condensing optical unit to the laser light receiving section; wherein the control section drives the actuator in a predetermined period which synchronizes with a predetermined signal included in the laser signal light.

Abstract: There is described a method for enabling the operation of automation components of a technical system via a mobile control and monitoring device. In a first step, the control and monitoring device receives a first identification from a first transponder device, with the first transponder device being attached to the technical system, with the first transponder device having been activated by the automation components and with the first identification having been transmitted via a wireless communication connection from the automation components to the mobile control and monitoring device. In a further step the communication connection between the control and monitoring device and the automation components is deactivated. The mobile control and monitoring device sends a carrier signal and following that receives the carrier signal modulated by the first transponder device.

Abstract: A programming method of a coordinate measuring machine (CMM) constructs a polygonal mesh model for a manufactured part according to a point cloud of the manufactured part. Basic measurement elements, relational measurement elements, a part coordinate system, and a collision-free inspection path are obtained according to the polygonal mesh model, so as to generate a measurement program of the CMM.

Abstract: A method to generate technical information about a device or process by recognizing the identity of a device or process, retrieving a stored image dependent on the device, combining the stored virtual image together with an image of a real device object, displaying the combination on a display and providing a virtual control HMI means to the user for monitoring and/or controlling the device or process. A graphical user interface, computer program and a system are also described.

Abstract: A geospatial modeling system may include a geospatial database for storing geospatial data points each having respective elevations associated therewith. The system may further include a processor for data thinning the geospatial data points by selecting discriminant points therefrom.

Abstract: An alignment mechanism to align a microelectronic device to a socket, the device including an array of contact pads thereon. The mechanism includes a socket system having a socket and a device positioning mechanism disposed adjacent the socket and adapted to position the device in the socket. The mechanism also includes a control system adapted to receive alignment data on a position of the array of contact pads relative to two reference sides of the device, the control system further being adapted to control the device positioning mechanism as a function of alignment data to align the device in the socket.

Abstract: A method of checking the operability of an actuator is provided. The actuator includes a control valve adjustable via an actuating drive by an actuating element, a position sensor detecting the actual position of the actuating element, and an electropneumatic position controller creating a pneumatic controlled variable depending on an actual position and a target position. The target position is provided to the actuating drive via an activated magnetic valve. The actuating element is moved over a section of an adjustment path for an execution of a partial-stroke test of the actuating element, the adjustment movement being detected. The magnetic valve is deactivated for a short time such that the actuating element is moved over only a section of the adjustment path. To facilitate the monitoring of the operability of the actuator, the partial-stroke test and the test of the magnetic valve are performed in a single test sequence.

Abstract: To facilitate an intuitive operation of an adjustable device of a medical apparatus, a system for the automatic setting of an operating configuration of the portable control module controlling the adjustable device is provided. Different operating configurations regarding the directional control of the movement of the movable device differ are based on the relative spatial position of the adjustable device with respect to the control module. The system includes at least one signal sender unit for sending a signal. The signal sender unit may be arranged on the control module. The system further includes at least two signal converter units for converting and retransmitting or for converting and reflecting the signal. The signal converter units may be arranged on different positions on the device. A signal receiver unit is used for receiving the converted signal, and the receiver unit may be arranged on the control module.

Abstract: An expandable system for mobile navigation facilitates a modular implementation of structural units to add desired functionality to a base navigation device. The system is embodied as a handheld mobile navigation device in one arrangement, including a base unit housing containing circuitry for determining a geographic location of the navigation device and a module unit housing containing circuitry for delivering additional functional activity. In particular, the base unit housing includes a primary interface for interconnecting with a secondary interface of the module unit housing, to enable signals generated or handled by a circuitry component of the module unit to be relayed to the circuitry of the base unit housing. Additionally, the module unit housing is configured to be releasably attached directly with the base unit housing upon the primary interface and secondary interface interconnecting with one another, to form the mobile navigation device as a physically connected package.

Abstract: There is described a device for the transmission of data between a portable electronic unit and a field unit, whereby a cable is provided, connected at the one end thereof to the portable electronic unit and comprises a cable coupling piece at the other end thereof, for wireless proximity connection to a corresponding field unit coupling piece, such that the data and also the operating energy for the field unit sufficient for data transmission may be transmitted by means of the wireless proximity connection.

Abstract: A mobile computing device comprises a memory, a processor and a transceiver. The memory is configured to store at least one type of position assist data. The processor is configured to provide a position fix based on the position assist data. The transceiver is configured for wireless communication. The memory is configured to store updated position assist data for the type of position assist data. The processor is operable in a first operating mode in which the type of position assist data is not updated and operable in a second operating mode in which the type of position assist data is updated in response to at least one triggering event.

Abstract: In order to rotate and move an arm of a slave which supports a needle-holder, the rotation and movement of a pen-shaped operating section (31) caused by the fingers of the operator's hand are directly transmitted as the rotation and movement of the needle-holder, as sensors for detecting the rotation and movement of the operating section, an X-axis torque sensor, Y-axis torque sensor, Z-axis torque sensor, and a rotation detecting potentiometer (33) are installed thereon. As a result, the rotation and movement of the pen-shaped operating section (31) caused by the fingers of the operator's hand are transmitted as the rotation and movement of the needle-holder in optimum proportions through a computing section. Therefore, when the needle-holder is to be finely moved, a subtle motion of the fingers of the hand can be satisfactorily transmitted. Thereby, it is possible to provide a surgical operation device capable of doing minute surgical operations with ease.

Abstract: The present invention provides methods of, computer programs for and apparatus for control and/or observation of a device with communication capabilities by a controller device with hypertext or hypermedia communication capabilities. More particularly, but not exclusively, the present invention relates to methods of, computer programs for and apparatus for control and observation of a consumer electronics device with communications capability from a mobile controller device with hypertext or hypermedia communications capability over a proximity bearer.

Abstract: A method is provided for transferring a substrate from a first substrate holder, e.g., a pre-alignment unit, to a second substrate holder, e.g., a substrate table in a lithographic apparatus, by means of a transfer unit on the basis of transfer data available thereto. First, the substrate is provided on the first substrate holder. Subsequently, a position error of the substrate is measured, and positioning adjustment data are calculated based on the position error as measured. Then, the second substrate holder is moved relative to a reference position thereof in accordance with the positioning adjustment data. Finally, the substrate is transferred by means of the transfer unit from the first substrate holder to the second substrate holder in accordance with the transfer data, and placed on the second substrate holder as moved.

Abstract: A system and method for notifying users in a manner that is appropriate for the event and the environment for the user. The method of the present invention relates to determining the desired properties of an event and assigning varying notification characteristics to that event. Profiles are created of the various events, wherein each profile relates to a different mode or situational environment, such as a meeting environment, an office or normal environment, a louder outside-type environment, etc. The invention further relates to placing the small computer device in a particular mode, either automatically or manually. Once in a particular mode the device provides notifications according to that mode.

Abstract: A management method is provided for a removable device attached to an apparatus and to be removed for maintenance. Maintenance data for each removable device is stored in a data management unit. An identification code is given to each removable device. The identification code of the removable device is read and input and output together with information required for maintenance, via a mobile terminal. The maintenance data is sent and received between the mobile terminal and the data management unit via a personal handphone system radio relay device. Since the management method enables maintenance of the removable device to be performed via the mobile terminal, it is possible to easily manage the location and history of the removable device requiring maintenance.

Abstract: The present invention deals with a lighting control system suitable for small system configurations such as in offices and conference rooms. One or more luminaires are communicatively connected in an addressable digital bus system as well as to a unit including a processing means. In connection with installation of the device, the processing means is programmed to automatically assign a digital address to each luminaire and further to automatically identify a spatial position of each luminaire by use of light measuring cells. A relationship between the digital address and the spatial position of each luminaire is thereby provided. Furthermore, the device supports the functionality of installing pre-programmed lighting scenes suitable for the determined configuration of the luminaires as well as other factors such as the position of a window.

Abstract: A complex procedural surface can be expressed based on some constructive solid geometry operations performed on primitive procedural surfaces. The domain based representation of the complex procedural surface includes implicit curves of intersection. During pre-processing, the parts of the domain based representation to be triangulated are first sub-divided into simple triangles not bound on any side by an edge related to the parameterized regions of the implicit curve and curve visibility triangles. The coarse pre-processed triangulated mesh is later refined during runtime by further sub-dividing the coarse mesh to add triangles with curve based edges and non-curve based edges to generate a mesh of sampling triangles. The more refined sampling triangle mesh is further refined by applying geometry instancing to map appropriate instance meshes into the appropriate sampling triangles to create an even more refined triangulated mesh at runtime for rendering.

Abstract: An arrangement using an Instant Messaging (“IM”) chat-type interface for monitoring and controlling devices in an automated home is provided. The automated home is arranged to be accessible as an IM contact (often called a “buddy”) to a user of an IM service that is located remotely from the automated home. After initiating an IM chat session, the user queries the status of systems and devices in the automated home, and operates devices in the automated home. In various illustrative examples, natural language commands are utilized to enable the user to ask simple questions regarding the status of devices in the home, take a virtual “walk through” the home, and turn devices on and off, among other options. As IM interfaces are being increasingly used on a variety of devices including mobile phones and personal digital assistants, users can conveniently access and control their automated home while traveling.

Abstract: A home control and automation system and method. The system generally includes one or more wireless remote controls, a plurality of appliances (including network enabled appliances and traditional legacy appliances in the exemplary system), associated control centric devices, and associated content centric devices. Various methods for control and operation of appliances in the networked home control and automation environment are disclosed. Specifically, methods are disclosed which enable advanced home control features such as location based control setup and operation, network enabled legacy appliances and system integration, save and recall capabilities for appliance and media states, generic command based appliance controls, dynamic/complex macro command generation, and Internet based control capabilities from remote locations are disclosed in conjunction with the system of the current invention.

Abstract: The present invention provides an apparatus for implementing a universal remote controller and method thereof, by which a multitude of electronic products can be controlled by one remote controller. In a system including an electronic product module storing each remote controller control information of at least one or more products to output the stored remote controller control information according to an external request signal and a remote controller module receiving remote controller control information from the electronic product module and controlling a specific product selected by a user using the received remote controller control information, the present invention receives the remote controller control information from the electronic product module to display a key arrangement plan of the product to be controlled by a user's selection based on the received control information and then outputs key information by selecting a key of the displayed key arrangement plan.

Abstract: A position control device of a moving body, by which position control device a moving body can be driven in a translational manner with high precision where the moving body is not rotated in a yawing direction even if disturbance is input, a stage device using the position control device, and a position control method of a moving body, is provided.

Abstract: A control device for controlling a control target device includes a control content acquisition unit, a recognition unit, a device control unit, and a communication unit. The control content acquisition unit acquires control information containing operation instructions and control commands from the control target device and stores the control information in a rewritable form. Each operation instruction corresponds to one of the control commands. The recognition unit recognizes an operation instruction entered by a user. The device control unit carries out a search to check whether the operation instruction recognized by the recognition unit is contained in the control information stored in the control content acquisition unit, and outputs a control command corresponding to the operation instruction when the operation instruction is contained in the control information. The communication unit transmits the control command outputted by the device control unit to the control target device.

Abstract: A method and apparatus for controlling machine operations in an automated industrial facility including at least one machine, the method for restricting machine operation when a wireless information device associated with a facility user is within a restricted facility location and comprising the steps providing at least one wireless information device, determining if the at least one wireless information device is within a restricted facility location and, where the at least one wireless information device is within a restricted facility location, regulating operation of the at least one machine.

Abstract: Disclosed herein is a home network system interoperable with a wireless terminal of at least one user registered therein, wherein a terminal server is adapted to transmit and receive data to/from the wireless terminal, and a home server is adapted to manage/control a home network and communicate with the terminal server. The terminal server detects the position of the wireless terminal and transmits and receives voice messages, text messages or multimedia data to/from the wireless terminal. The home server is connected with the terminal server over the Internet. The home server sends, to the terminal server, alarm data regarding a dangerous situation in a home where the home network is constructed, receives information regarding the position of the wireless terminal from the terminal server and displays the received position information.

Abstract: Separating a source in a stereo signal having a left channel and a right channel includes transforming the signal into a short-time transform domain; computing a short-time similarity measure between the left channel and the right channel; classifying portions of the signals having similar panning coefficients according to the short-time similarity measure; segregating a selected one of the classified portions of the signals corresponding to the source; and reconstructing the source from the selected portions of the signals.

Abstract: An automation system for programming appliances having programmable controllers, programmable devices and trigger devices that communicate over a communication link. The user programs the programmable devices by placing the programmable controller in its training mode, activating the trigger device to generate a trigger signed and places select programmable devices in their programmed state. After all of the desired programmable devices have been put in then programmed states, the user takes the programmable controller out of its training mode. When the programmable controller is out of its training mode, it monitors the communication link for the trigger event. Upon detecting the trigger event, the programmable controller sends messages to the selected programmable devices instructing them to go to their programmed state.

Abstract: Improvements in human interaction with barrier movement operators are disclosed. A controller of the barrier movement operator is capable of a number of learning modes in which the controller cooperates with a user to learn operating parameters. The controller guides and corrects the necessary actions by the user. The barrier movement operator also includes an input/output unit remote from the main controller of the operator. Human interaction with the remote input/output unit enables diagnosis of operator faults remotely.

Abstract: This invention provides an output service provision system which is capable of allowing a user to easily receive a provided output service, providing an output service responsive to the user and flexibly coping with situational variations. Upon determining that a virtual object B is in an area-in state with respect to a virtual object A, a virtual object management device can transmit an area-in notification to a projector. Upon receiving the area-in notification, the projector can transmit a projector display data transmission request to a portable terminal and receive projector display data transmitted in response to the transmission request. The projector can then execute a projection process by a projection device on the basis of the received projector display data. The portable terminal can transmit the projector display data to the projector in response to the projector display data transmission request.

Abstract: There is provided a central site system for communicating with at least one remote site equipment monitor, the at least one remote site equipment monitor collecting operational data concerning remote site equipment. The central site system includes a data transfer system adapted for receiving the operational data from the at least one remote site equipment monitor. The central site system also includes an operational data access system which receives the operational data from the data transfer system and stores the operational data in a data storage unit of the operational data access system. The central site system also includes a notification distribution system which receives data based on the operational data and distributes the data based on the operational data to a destination according to a predefined schedule.

Abstract: A programming system for a robot or similar apparatus comprises a portable programming terminal (6) having a display device (D), a plurality of jog keys (14) for controlling the robot movements and a plurality of teaching keys (15–24, 26). The body of the terminal (6) comprises a first portion (11), wherein the jog keys (14) and the teaching keys (15–24, 26) are arranged, having a width which progressively decreasing until reaching the area of union with a second portion (10) of the body, wherein the display device (D) is positioned; the jog keys (14) comprises two series of keys (14) being positioned in a substantially symmetrical fashion to each other, each series being along a respective longitudinal side of the first portion (11), whereas the teaching keys (15–24, 26) are positioned within or close to the restricted zone of the body, bridging the first and the second portion (11, 10).

Abstract: A method and system for modifying the operation a device. The method can include obtaining a first reconfiguration kit. The first reconfiguration kit can include a portable memory device. The method can also include connecting the portable memory device to the device and transmitting information between the portable memory device and the device. The method can further include disconnecting the portable memory device from the device and returning the portable memory device to an entity associated with the provider of the portable memory device.

Abstract: A remote operation management system for commercial appliances is provided. The system includes a user interface for authorizing use of an appliance and a dedicated appliance controller coupled to the user interface and the appliance for controlling operation of the appliance. An appliance communication controller is coupled to the user interface over an appliance communication connection, and an external host controller is coupled to the appliance communication controller over a host communication connection. The external host controller is configured to communicate a message for the appliance to the appliance communication controller. A remote management system is coupled to the external host controller and configured to control a function of the appliance.

Abstract: A programming system for a robot includes a portable programming terminal (6) having a series of jog keys (14) for controlling the motions of the robot, a key (18) for selecting one among a plurality of possible co-ordinate systems for the jog keys (14) and a key (21) for storing the position reached by a predefined point of a tool supported by the robot, as a result of a motion thereof. The terminal (6) includes additional control keys (40, 41), able to be operated manually instead of the jog keys (14), to cause, independently from the co-ordinate system selected with the selection key (18), a Cartesian and/or angular displacement of the predefined point of the tool relative to a reference point that may be varied at will, which corresponds to the position of the operator who uses the terminal (6).

Abstract: A system for providing technical support for remote automation or remote control devices, the system including: a device identifier (35), for determining components of pre-determined automation or control devices, such as for example programmable logic controllers, indicated in a device database (33), by periodically querying the devices for component hardware, software, and firmware, and for providing thereby the device database (33) with component identifications for the predetermined devices; and a device configuration manager (36), responsive to the component identifications and further responsive to available device components in a database (34) of available device components, for comparing the installed and available device components and for providing an offer to upgrade installed device components; and also typically including a system diagnostics manager (32), responsive to the component identifications, and further responsive to diagnostics information in a diagnostics database (31), for providing d

Abstract: Reliable and at the same time simple operation of a plurality of system components using only a single control element is guaranteed by means of the combination of a control lever (10) which can be swiveled manually and a rotational control unit (11) which can be rotated manually. Translatory control motions can be executed intuitively by means of swivel movements (16) of the control lever (10) and rotatory control motions can be executed intuitively by means of rotary movements (14) of the rotational control unit (11). The embodiment of the rotational control unit (11) in the form of a ring element surrounding the control lever (10), which can be can be adjusted by raising or lowering into different operating positions, associated in each case with a specific operating function, is particularly advantageous.

Abstract: In accordance with a first preferred embodiment, a control method comprises monitoring a position of a motion control axis and controlling an output device responsive to the position of the motion control axis. The controlling step further includes latching a cam element that controls the output device, and unlatching the cam element that controls the output device. The, manner in which the latching step is performed and the manner in which the unlatching step is performed are configurable in a programming interface. The programming interface is capable of receiving a latch position for the cam element and an unlatch position for the cam element. The programming interface is further capable of receiving additional configuration information to configure the manner in which the latching step is performed and different additional configuration information to separately configure the manner in which the unlatching step is performed.