Abstract: Methods, systems and apparatuses for enhanced Microelectromechanical (MEMS)-based navigation in a mobile device are disclosed. In an embodiment, a method includes receiving navigation data from one or more navigation sensors on board the mobile device. The method may also include calculating, using a processing device, position, velocity, and attitude (PVA) values in response to the navigation data using an Inertial Navigation System (INS) mechanization. Additionally, the method may include calculating, using the processing device, Pedestrian Dead Reckoning (PDR) values in response to the navigation data. Also, the method may include determining, using the processing device, one or more navigation values in response to a combination of the PVA values calculated by the INS mechanization and the PDR values.

Abstract: A method, a medium (20) and a system (10) for calibrating a camera (32) of a vehicle (30). The calibration system (10) is remarkable in that it includes a calibration medium (20), including at least a first calibration reference (24) and a mirror (26), and a vehicle (30), including at least a second calibration reference (34). The method can be used to calibrate the camera (32) by determining the spatial compensation values between the camera (32) and the vehicle (30), without any need to align the vehicle (30) perfectly facing the calibration medium (20).

Abstract: Raw dead reckoning data is obtained from an inertial measurement unit (IMU) worn by a user. Drift in the raw data is compensated for by detecting a gait of the user and phase of that gait, and constraining the position of the IMU to lie within corresponding bounds as the IMU moves. The bounds depend on the bodily geometry of the user and the detected gait phase. The raw orientation data of the IMU may be also corrected for drift in a similar way. Gait and gait phase may be detected by sensors in an energy harvester worn around the knee, for example. Drift in the IMU measurements can be compensated for without depending on a GPS signal or on the earth's magnetic field.

Abstract: Methods, devices, and kits are provided for mitigating single point failure of at least one device in an analyte monitoring system.

Abstract: The present invention generally relates to the determination of an analyte concentration (quantitative determination) or whether an analyte threshold level has been passed (qualitative determination) in a biological sample through employment of a disposable analytical microprocessor device. The device can include a batch-specific, self-executable algorithm for the calculation of the analyte concentration.

Abstract: The invention relates to an inductive charging device having at least one inductive charging coil wound about a coil axis, and an electric or dielectric antenna, which is arranged at a location that is shifted parallel to the coil axis in relation to a location of a region of the charging coil, a location within the at least one charging coil, or a location between the charging coils. The electric vehicle and the charging station each have such an inductive charging device. With the method, one or two such inductive charging devices are used, wherein by means of the inductive charging coils, energy is transmitted, and by means of the antennas, communications data are transmitted.

Abstract: A method for operating a measuring site (1), wherein a measured variable is determined by a sensor (5) that can be calibrated and in which an exact as possible planning of activities, to which, for example, calibration or sensor replacement belong, is possible is obtained, in accordance with the method, in that the sensor (5) is calibrated at presettable calibration points in time, that at least one parameter in conjunction with calibration is stored as a part of reference data of the sensor (5) and that at least one aging-dependent variable of a sensor (8, 6) differing from the sensor (5) is estimated based on reference data of the sensor (5).

Abstract: A sensor chip includes sensor pads, and the first set of differential detection signal pads are symmetrically arranged on both sides of a ground pad and are centered at the ground pad, the second set of differential detection signal pads are arranged on both sides thereof, and a power supply pad is arranged in one end of the two ends of the sensor pads. A processing circuit chip includes sensor connection pads including power supply connection pads, a ground connection pad, and two sets of differential detection signal connection pads, and the power supply connection pads connectable to the power supply pad of the sensor chip are arranged in two ends of the sensor connection pads.

Abstract: An electronic device configured for real-time calibration of an on-board accelerometer. A plurality of acceleration measurements are collected from the accelerometer to form a data set. An accelerometer error correction model is maintained that includes bias error calibration parameters, sensitivity calibration parameters, and cross-axis calibration parameters that each specify respective weights for each of bias error, sensitivity error, and cross-axis error. Calibration values are determined for one or more of the bias error calibration parameters, the sensitivity calibration parameters, and the cross-axis error calibration parameters for the data set of acceleration measurements using the accelerometer error correction model. A true acceleration vector may be determined that corresponds to a subsequently received acceleration measurement using the determined calibration values.

Abstract: A wearable device includes one or more biometric sensors, each of the one or more biometric sensors gathering biological data from a wearer of the wearable device, the wearable device further having a computer processor for receiving the biological data from the one or more biometric sensors and generating biometric information based on the biological data and according one or more biometrical algorithms, the biometric information including validation information to validate the wearer as a source of the biological data gathered by each of the one or more sensors, the biometric information further including sleep information to provide a sleep profile of the wearer.

Abstract: A measurement matrix generating system based on scrambling and a method thereof are disclosed. A plurality of independent identically distributed (i.i.d) elements is pre-stored in a circulant matrix register array, selections are made among the elements so as to perform an algebraic operation on the selected elements, and a measurement matrix with high availability is generated according to results of the operations, so as to achieve the technical effect of improving the availability of the measurement matrix in compressive sensing.

Abstract: A control device, in particular for an electrical or electronic device, which has a base element and an actuating element which is manually rotatable in relation to the base element about an actuation axis, the control device further having a sensor unit for detecting a movement of the actuating element about the actuation axis, the sensor unit further including an acceleration sensor.

Abstract: This disclosure describes systems, methods, and apparatus for automating the verification of aerial vehicle sensors as part of a pre-flight, flight departure, in-transit flight, and/or delivery destination calibration verification process. At different stages, aerial vehicle sensors may obtain sensor measurements about objects within an environment, the obtained measurements may be processed to determine information about the object, as presented in the measurements, and the processed information may be compared with the actual information about the object to determine a variation or difference between the information. If the variation is within a tolerance range, the sensor may be auto adjusted and operation of the aerial vehicle may continue. If the variation exceeds a correction range, flight of the aerial vehicle may be aborted and the aerial vehicle routed for a full sensor calibration.

Abstract: A system that efficiently estimates an object's orientation using magnetic, angular rate, and gravity sensors. The object may be for example a virtual reality headset or a user in a virtual reality environment. Magnetic and gravity data are used to correct errors that accumulate from integrating angular velocity. Unlike systems that use Kalman filter approaches, embodiments of the system apply a simple, highly efficient technique to generate magnetic and gravity error vectors; these error vectors are added directly to the angular velocity prior to integration. Error calculations are performed in the sensor reference frame rather than in the Earth reference frame. Magnetic error correction uses only the horizontal component of the magnetic field, which is efficiently calculated by subtracting off the projection of the magnetic field onto the measured gravity vector. Sensors and processors for calculating orientation may be integrated into a low-latency virtual reality display system.

Abstract: An apparatus for positioning calibration markers may include an extension arm connected to one or more radio-dense calibration markers. The apparatus may also include a mounting device removably attachable to a radiographic imaging device and coupled to the extension arm. The mounting device may provide for translation of the extension arm with respect to the radiographic imaging device in at least a first dimension. The apparatus may additionally include one or more visual alignment features on the mounting device. The one or more visual alignment features may be configured to align the one or more radio-dense calibration markers relative to the radiographic imaging device. The translation of the extension arm may repositions the one or more radio-dense calibration markers with respect to the radiographic imaging device.

Abstract: A device (12) that uses a temperature coefficient pre-calibrated for the device for measuring a flow within the device. The device includes a differential pressure sensor (80) configured to generate a differential pressure signal responsive to a differential pressure within a flow path (16) and a temperature sensor configured to sense a temperature near the differential pressure sensor. A differential amplifier amplifies differential pressure signals from the differential pressure sensor. A processor receives signals from the differential pressure sensor, amplified signals from the differential amplifier, and signals from the temperature sensor. The amplified signals are corrected based upon at least a predetermined temperature coefficient, and the processor calculates a flow rate based on the corrected representation of the differential pressure.

Abstract: A state-estimator for the estimation or initialization of the state of a discrete-time state-space dynamical model based on sensor measurements of the model output, comprising fitting a continuous-time function to acquired sensor measurement data-points of each model output, and subsequently sampling the continuous time function at exactly the sample-period of the state-space dynamic model for which the state is being estimated or initialized, in order to construct a model state via a synthesized output trajectory.

Abstract: The invention is a method of developing a sedimentary basin wherein the distribution and the quality of the organic matter in the sedimentary basin are determined using stratigraphic modelling representing the evolution of the sedimentary basin. The method is based on the coupling of a stratigraphic model with an organic matter production, transport and degradation model. The sedimentary basin is then developed according to the distribution and the quality of the organic matter.

Abstract: A sensor control device for connection to an oxygen sensor including a sensing element that measures oxygen concentration in an intake atmosphere of an internal combustion engine and a heater that heats the sensing element, including a detection unit that detects an output signal corresponding to the oxygen concentration output from the sensing element and a calculation unit that calculates a compensation coefficient of the output signal that is used when calculating the oxygen concentration. The calculation unit collects compensation information used in calculating the compensation coefficient when the internal combustion engine is in operation and in a specific operation state in which the oxygen concentration in the intake atmosphere is subject to estimation. Also disclosed is a sensor control system which includes an oxygen sensor and the sensor control device.

Abstract: A computing system includes: an adaptive back-up controller configured to calculate an adaptive back-up time based on a reserve power source for backing up a volatile memory to a nonvolatile memory; and a processor core, coupled to the adaptive back-up controller, configured to back up at least a portion of the volatile memory to the nonvolatile memory within the adaptive back-up time based on a back-up priority.

Abstract: An electronic device configured for real-time calibration of an on-board accelerometer. A plurality of acceleration measurements are collected from the accelerometer to form a data set. An accelerometer error correction model is maintained that includes bias error calibration parameters, sensitivity calibration parameters, and cross-axis calibration parameters that each specify respective weights for each of bias error, sensitivity error, and cross-axis error. Calibration values are determined for one or more of the bias error calibration parameters, the sensitivity calibration parameters, and the cross-axis error calibration parameters for the data set of acceleration measurements using the accelerometer error correction model. A true acceleration vector may be determined that corresponds to a subsequently received acceleration measurement using the determined calibration values.

Abstract: An n-th-harmonic error estimation unit that estimates the error component of an n-th harmonic included in a resolver angle ? and a subtraction unit that subtracts an n-th-harmonic estimated angle error from ? to output the corrected angle ?? are included.

Abstract: A sensor system includes a microelectromechanical systems (MEMS) sensor, processing circuitry, measurement circuitry, stimulus circuitry and memory. The system is configured to provide an output responsive to physical displacement within the MEMS sensor to the measurement circuitry. The stimulus circuitry is configured to provide a stimulus signal to the MEMS sensor to cause a physical displacement within the MEMS sensor. The measurement circuitry is configured to process the output from the MEMS sensor and provide it to the processing circuitry, which is configured to generate stimulus signals and provide them to the stimulus circuitry for provision to the MEMS sensor. Output from the measurement circuitry corresponding to the physical displacement occurring in the MEMS sensor is monitored and used to calculate MEMS sensor characteristics. Methods for monitoring and calibrating MEMS sensors are also provided.

Abstract: Steering wheel sensor systems are described in which a sensor array is attached to or integrated with a steering wheel and provides information about the forces exerted on the steering wheel for interacting with or controlling other vehicle systems.

Abstract: Geometric calibration of an imaging system is performed by recording visible control points in a calibration image whose geometric properties are known and calibration coefficients can be derived utilizing an image processing system for transforming the recorded image into a geometric distortion-free image. Described are methods and systems for vicarious geometric calibration of a remote sensor that include a processor configured to receive image data collected at a remote sensor, the image data including a plurality of image elements each associated with a respective reflective mirror from a plurality of reflective mirrors located at respective know positions, determine, for each of the plurality of reflective mirrors, an image location in the image data and determine one or more figures of merit based on the image locations and the known positions for each of the plurality of reflective mirrors.

Abstract: An event-related media management system contextualizes media content. The event-related media management system associates media content with contextual event-related data to associate the media content with the events and information about the events. The contextual event-related data can then be used to provide access to the media content, such as through relevant search results or by presenting the media content in organized displays for contextual browsing and navigation. In some embodiments the event-related media management system generates contextualized media content for contextual search, discovery, and advertising.

Abstract: A dense volumetric grid coming from an oil/gas reservoir simulation output is translated into a compact representation that supports desired features such as interactive visualization, geometric continuity, color mapping and quad representation. A set of four control curves per layer results from processing the grid data, and a complete set of these 3-dimensional surfaces represents the complete volume data and can map reservoir properties of interest to analysts. The processing results yield a representation of reservoir simulation results which has reduced data storage requirements and permits quick performance interaction between reservoir analysts and the simulation data. The degree of reservoir grid compression can be selected according to the quality required, by adjusting for different thresholds, such as approximation error and level of detail.

Abstract: The described technology regards an augmented reality system and method for estimating a position of a location of interest relative to the position and orientation of a display based upon a retroactive adjustment of a previously rendered position and orientation of the display, by means of an adjust-update-predict (AUP) cycle, and calculating the location of interest relative to the position and orientation of the display. Systems of the described technology include including a plurality of sensors, a processing module or other computation means, and a database. Methods of the described technology use data from the sensor package useful to accurately render graphical user interface information on a display.

Abstract: The described technology regards an augmented reality system and method for estimating a position of a location of interest relative to the position and orientation of a display, including receiving and selectively filtering a plurality of measurement vectors from a rate-gyroscope. Systems of the described technology include including a plurality of sensors, a processing module or other computation means, and a database. Methods of the described technology use data from the sensor package useful to accurately render graphical user interface information on a display.

Abstract: A method and apparatus for measuring the propulsive power required to overcome drag forces on a vehicle mounted within a wind tunnel. The apparatus includes a running belt platform driven by a dynamometer and supporting the vehicle placed inside a wind tunnel and controlled by a closed-loop servo control system, which maintains the vehicle centered on the running belt under varying operating speeds and headwind conditions. The power dissipated in drag is measured as the power transferred through ground contact with the wheels of the vehicle.

Abstract: A control head of a fluid measuring device (20, 40) has an outer housing (32) which has a surrounding shell surface (34), an open face side formed by a first opening (50) and facing the device (20, 30), an opposite open face side formed by a second opening (52), and a lateral opening (36) in the shell surface (34). The second opening (52) and the lateral opening (36) have substantially the same opening cross-section. The control head further has first and second closure units (60, 62) which each include a cover and a surrounding luminous ring (66) positioned on a housing side of the cover, the covers of the first and second closure units (60, 62) each being adapted to be configured as a blind cover (64) or as an electronic display (68), and each closure unit (60, 62) being adapted to be releasably coupled to the outer housing (32) both at the second opening (52) and at the lateral opening (36) to close the respective opening (36, 52).

Abstract: An accelerometer in a mobile device is calibrated by taking multiple measurements of acceleration vectors when the mobile device is held stationary at different orientations with respect to a plane normal. A circle is calculated that fits respective tips of measured acceleration vectors in the accelerometer coordinate system. The radius of the circle and the lengths of the measured acceleration vectors are used to calculate a rotation angle for aligning the accelerometer coordinate system with the mobile device surface. A gyroscope in the mobile device is calibrated by taking multiple measurements of a rotation axis when the mobile device is rotated at different rates with respect to the rotation axis. A line is calculated that fits the measurements. The angle between the line and an axis of the gyroscope coordinate system is used to align the gyroscope coordinate system with the mobile device surface.

Abstract: Disclosed is a method for estimating the maximum power of a battery, which can inexpensively perform an estimation of the maximum power of a battery in a relatively simple manner of using the internal resistance of the battery, which has a correlation with and a largest effect on the maximum power of the battery. The method includes the steps of: measuring an internal resistance and a temperature of the battery and estimating a state of charge, if an estimation of the maximum power of the battery is requested; and reading a value of the maximum power of the battery, which corresponds to the measured temperature, the estimated state of charge, and the measured internal resistance, from a table in which the internal resistances and the maximum powers of the battery are mapped according to the temperatures and states of charge.

Abstract: A method and system are provided for improved pedestrian dead reckoning. In an embodiment, the crab angle of a device, i.e., the angle by which the device direction of travel differs from the device orientation, is determined via the processing of measurements from a vector accelerometer. The measured acceleration vector is rotated so that one component is vertical, and the crab angle is then found by determining a horizontal direction having the greatest energy. Correlations between the two horizontal acceleration components and the vertical acceleration component may be computed to determine the user's gait, further improving dead reckoning, e.g., for improving indoor position resolution.

Abstract: A controller module, method, and a non-transitory computer program product are disclosed for the dynamic configuration of an industrial control system, which can include a current settings receiver configured to receive current configuration and security settings of the industrial control system, a changed settings receiver configured to receive changed configuration settings of the industrial control system, a settings analyzer configured to determine, based on the current configuration and security settings and the changed configuration settings, updated configuration and security settings of the industrial control system, and a dynamic activator configured to dynamically establish at least one communication path in order to activate updated configuration and security settings of the industrial control system.

Abstract: A system and method for mounting a device to a piece of equipment is presented, and may include a handheld inertial measurement unit (IMU), a computer logic and a mounting interface. The piece of equipment may have a line replaceable unit (LRU) mount that allows a new LRU to be mounted thereon. The mounting interface may be mounted to a LRU mount. The handheld IMU may determine position data with respect to the LRU mount and the piece of equipment. The computer logic may be configured to calculate a positional error value based on the position data to indicate to a user whether corrections need to be made regarding how the new LRU is mounted to the LRU mount before the new LRU is mounted to the LRU mount or whether the new LRU can be mounted to the LRU mount without any corrections.

Abstract: Methods and systems for predicting properties of well bore treatment fluids are disclosed. An embodiment includes a method of predicting fluid properties comprising: determining an operational window for a well bore fluid system; collecting data at vertices of the operational window; and developing a model comprising predicted properties for a plurality of data points within the operational window, wherein developing the model uses Barycentric interpolation.

Abstract: A calibration method for a capacitance level sensing apparatus (10) is applied for a tank measurement. A measurement signal generating circuit (102) generates a measurement signal (104) to proceed with the tank measurement. According to a measurement result measured through the measurement signal (104), a sensing circuit (108) transmits a sensing signal (110) to a control unit (112). According to the sensing signal (110), the control unit (112) determines whether the sensing signal (110) is in an effective range or not. If the sensing signal (110) is in the effective range, the control unit (112) sets a total capacitance in accordance with the sensing signal (110) as a measurement base value. If the sensing signal (110) is not in the effective range, the control unit (112) controls the measurement signal generating circuit (102) to adjust a measurement frequency of the measurement signal (104).

Abstract: A method and system for calibrating a wireless sensor device are disclosed. In a first aspect, the method comprises determining a vertical calibration vector and determining a rotation matrix using the vertical calibration vector to line up native axes of the wireless sensor device with body axes. In a second aspect, a wireless sensor device comprises a processor and a memory device coupled to the processor, wherein the memory device includes an application that, when executed by the processor, causes the processor to determine a vertical calibration vector and to determine a rotation matrix using the vertical calibration vector to line up native axes of the wireless sensor device with body axes.

Abstract: A pedestrian navigation system for navigating a foot apparatus comprises a system communication unit, a map database, a step data generation unit, a navigation path analysis unit and a feedback unit. The system communication unit communicates with an apparatus communication unit of the foot apparatus. The step data generation unit generates step data according to the sensing data of the foot apparatus. The navigation path analysis unit determines a navigation path and determines a heading direction of the foot apparatus. A turning direction and a turning angle are generated according to the navigation path and the heading direction. The feedback unit receives the turning direction and the turning angle to generate a feedback signal. The indication unit generates an indication signal according to the feedback signal to indicate the turning direction and the turning angle.

Abstract: Optical frequency domain reflectometry (OFDR) circuitry to perform tasks on an optical fiber to generate calibration or correction data for calibrating or correcting a reference OFDR data set. A segmented technique is used which permits precise and accurate determination of the correction data for even initial and long fiber lengths. Correction information for each segment is stitched together to generate the correction data for the fiber.

Abstract: A system that efficiently estimates an object's orientation using magnetic, angular rate, and gravity sensors. The object may be for example a virtual reality headset or a user in a virtual reality environment. Magnetic and gravity data are used to correct errors that accumulate from integrating angular velocity. Unlike systems that use Kalman filter approaches, embodiments of the system apply a simple, highly efficient technique to generate magnetic and gravity error vectors; these error vectors are added directly to the angular velocity prior to integration. Error calculations are performed in the sensor reference frame rather than in the Earth reference frame. Magnetic error correction uses only the horizontal component of the magnetic field, which is efficiently calculated by subtracting off the projection of the magnetic field onto the measured gravity vector. Sensors and processors for calculating orientation may be integrated into a low-latency virtual reality display system.

Abstract: A communication control method includes: receiving data, acquired by respective terminals, through a communication network; accumulating the received data in an information recording medium; obtaining an intra-network transmission time, which is an estimated value of a maximum time taken for transmission from when the data are acquired by the respective terminals until the data are received through the communication network; determining, of the accumulated data, the data whose time from an acquisition time point when the data is acquired by the terminal until a current time is shorter than the intra-network transmission time; excluding, of the accumulated data, the data whose time is determined to be shorter than the intra-network transmission time from data used for predetermined processing; and executing the predetermined processing by using the data excluding the data whose time is determined to be shorter than the intra-network transmission time.

Abstract: Provided herein is a method for determining a bias-compensated inertial rotation rate of a Coriolis vibratory gyroscope (“CVG”). The method comprises determining an initial mode that the CVG is operating; obtaining average uncompensated inertial rotation rate measurements from a previous mode transition period; obtaining average uncompensated bias measurements from the previous mode transition period; determining a first transition between a AGC mode and a FTR mode of a given axis; calculating a first estimate of bias of the CVG based on the first transition that was determined and the average uncompensated bias measurements from the previous mode transition period; and calculating, by a processor, a first bias-compensated inertial rotation rate of the CVG based on the first bias that was calculated and the average uncompensated inertial rotation rate measurements from a previous mode transition period.

Abstract: An X-ray CT apparatus includes: an X-ray generating unit configured to generate an X ray; an X-ray detecting unit including a plurality of X-ray detectors, each configured to detect the X ray generated from the X-ray generating unit and transmitted through an object; and an image generating unit configured to correct and reconstruct signals acquired by the X-ray detecting unit. While crosstalk correction of a plurality of the X-ray detectors is performed at the image generating unit, correction of a locally attenuating component is previously performed and correction of a whole component of the crosstalk is performed when the image is reconstructed.

Abstract: A method for determining mass flow of a two-phase medium flowing through a measuring tube of a vortex, flow measuring device. The measuring tube has in a measuring cross section at least one bluff body for producing vortices. By sensor registering of the produced vortices, a flow velocity of the medium in the region of the measuring cross section is determined. In the method, the density of the medium in the region of the measuring cross section is determined from the specific, total enthalpy of the medium in the region of the measuring cross section, from the flow velocity of the medium in the region of the measuring cross section, from a static pressure of the medium in the region of the measuring cross section and from the static temperature of the medium in the region of the measuring cross section. Additionally, the mass flow is determined from the determined flow velocity, the determined density and a flow cross section of the medium in the region of the measuring cross section.

Abstract: A method of calibrating an inertial unit is provided. During a first static stage, in which the inertial unit is in a first orientation, measurements are taken by means of the accelerometers and the inertial rotation sensors. During a dynamic stage, the orientation of the inertial unit is changed, at least in part in azimuth, from the first orientation towards a second orientation, while taking measurements by means of the inertial rotation sensors. During a second static stage, in which the inertial unit is in the second position, measurements are taken by means of the accelerometers and of the inertial rotation sensors. For each static stage, a direction, an amplitude, and a mean speed of rotation for apparent gravity in an inertial frame of reference is estimated, variation is calculated in orientation between the static stages, and the accelerometer biases is deduced therefrom.

Abstract: In some implementations, a mobile device can receive a motion signal from a motion sensor on the mobile device. The mobile device can determine a step count based on the motion signal. The mobile device can transform the motion signal from a time domain signal into a frequency domain signal. The mobile device can determine a dominant peak and harmonic peaks of the motion signal within a pedestrian frequency band. The mobile device can determine that the dominant peak corresponds to an arm swing of a user and adjust the step count to compensate for the arm swing.

Abstract: Methods, systems, and apparatus adapted to automate ordering of test strips for use in an analyte meter device are disclosed. The method, system and apparatus includes inputting information from an indicia on a package of test strips indicative of a quantity of test strips in the package; tracking a number of test strips used in the analyte meter device; and generating an automatic order for additional test strips based on a signal indicating that a reorder threshold has been reached. Numerous additional features and aspects are disclosed.

Abstract: The present invention is directed to unmanned vehicle (UV) systems and methods. A method may include capturing data with at least one UV proximate an area of interest. The method may also include processing the data at a computing device. In addition, the method may include at least storing the processed data, sharing the processed data with another device, combining the processed data with related historical data, developing a model based at least partially on the processed data, determining at least one future task to be performed by the UV based at least partially on the processed data, or any combination thereof.