Search results for: Unmanned Aerial Vehicle (UAV) selection

Authors: Mohammad H. Almomani, Rosmanjawati Abdul Rahman

Abstract:

In this paper, we consider the effect of the initial sample size on the performance of a sequential approach that used in selecting a good enough simulated system, when the number of alternatives is very large. We implement a sequential approach on M=M=1 queuing system under some parameter settings, with a different choice of the initial sample sizes to explore the impacts on the performance of this approach. The results show that the choice of the initial sample size does affect the performance of our selection approach.

Keywords: Ranking and Selection, Ordinal Optimization, Optimal Computing Budget Allocation, Subset Selection, Indifference-Zone, Initial Sample Size.

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Authors: Amel Ltifi, Ahmed Zouinkhi, Med Salim Bouhlel

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Spontaneous networks such as VANET are in general deployed in an open and thus easily accessible environment. Therefore, they are vulnerable to attacks. Trust management is one of a set of security solutions dedicated to this type of networks. Moreover, the strong mobility of the nodes (in the case of VANET) makes the establishment of a trust management system complex. In this paper, we present a concept of ‘Active Vehicle’ which means an autonomous vehicle that is able to make decision about trustworthiness of alert messages transmitted about road accidents. The behavior of an “Active Vehicle” is modeled using Petri Nets.

Keywords: Component, active vehicle, cooperation, petri nets, trust management, VANET.

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Authors: Jyoti Dua

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An algorithm is a well-defined procedure that takes some input in the form of some values, processes them and gives the desired output. It forms the basis of many other algorithms such as searching, pattern matching, digital filters etc., and other applications have been found in database systems, data statistics and processing, data communications and pattern matching. This paper introduces algorithmic “Enhanced Bidirectional Selection” sort which is bidirectional, stable. It is said to be bidirectional as it selects two values smallest from the front and largest from the rear and assigns them to their appropriate locations thus reducing the number of passes by half the total number of elements as compared to selection sort.

Keywords: Bubble sort, cocktail sort, selection sort, heap sort.

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Authors: Barenten Suciu

Abstract:

In this work, by replacing the traditional solid spokes with colloidal spokes, a vehicle wheel with a built-in suspension structure is proposed. Following the background and description of the wheel system, firstly, a vibration model of the wheel equipped with colloidal spokes is proposed, and based on such model the equivalent damping coefficients and spring constants are identified. Then, a modified model of a quarter-vehicle moving on a rough pavement is proposed in order to estimate the transmissibility of vibration from the road roughness to vehicle body. In the end, the optimal design of the colloidal spokes and the optimum number of colloidal spokes are decided in order to minimize the transmissibility of vibration, i.e., to maximize the ride comfort of the vehicle.

Keywords: Built-in suspension, colloidal spoke, intrinsic spring, vibration analysis, wheel.

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Authors: Adtha Lawanna

Abstract:

Software maintenance is one of the essential processes of Software-Development Life Cycle. The main philosophies of retaining software concern the improvement of errors, the revision of codes, the inhibition of future errors, and the development in piece and capacity. While the adjustment has been employing, the software structure has to be retested to an upsurge a level of assurance that it will be prepared due to the requirements. According to this state, the test cases must be considered for challenging the revised modules and the whole software. A concept of resolving this problem is ongoing by regression test selection such as the retest-all selections, random/ad-hoc selection and the safe regression test selection. Particularly, the traditional techniques concern a mapping between the test cases in a test suite and the lines of code it executes. However, there are not only the lines of code as one of the requirements that can affect the size of test suite but including the number of functions and faulty versions. Therefore, a model for test case selection is developed to cover those three requirements by the integral technique which can produce the smaller size of the test cases when compared with the traditional regression selection techniques.

Keywords: Software maintenance, regression test selection, test case.

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Authors: Adtha Lawanna

Abstract:

Software maintenance is one of the essential processes of Software-Development Life Cycle. The main philosophies of retaining software concern the improvement of errors, the revision of codes, the inhibition of future errors, and the development in piece and capacity. While the adjustment has been employing, the software structure has to be retested to an upsurge a level of assurance that it will be prepared due to the requirements. According to this state, the test cases must be considered for challenging the revised modules and the whole software. A concept of resolving this problem is ongoing by regression test selection such as the retest-all selections, random/ad-hoc selection and the safe regression test selection. Particularly, the traditional techniques concern a mapping between the test cases in a test suite and the lines of code it executes. However, there are not only the lines of code as one of the requirements that can affect the size of test suite but including the number of functions and faulty versions. Therefore, a model for test case selection is developed to cover those three requirements by the integral technique which can produce the smaller size of the test cases when compared with the traditional regression selection techniques.

Keywords: Software maintenance, regression test selection, test case.

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Authors: Hassan Haghighi, Omid Mafi

Abstract:

Existing experiences indicate that one of the most prominent reasons that some ERP implementations fail is related to selecting an improper ERP package. Among those important factors resulting in inappropriate ERP selections, one is to ignore preliminary activities that should be done before the evaluation of ERP packages. Another factor yielding these unsuitable selections is that usually organizations employ prolonged and costly selection processes in such extent that sometimes the process would never be finalized or sometimes the evaluation team might perform many key final activities in an incomplete or inaccurate way due to exhaustion, lack of interest or out-of-date data. In this paper, a systematic approach that recommends some activities to be done before and after the main selection phase is introduced for choosing an ERP package. On the other hand, the proposed approach has utilized some ideas that accelerates the selection process at the same time that reduces the probability of an erroneous final selection.

Keywords: enterprise resource planning, evaluation and selectionof ERP packages, organizational readiness for employing ERP, evaluationlists.

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Authors: Wiroon Sriborrirux, Sorakrai Kraipui, Nakorn Indra-Payoong

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One of the most importance of intelligence in-car and roadside systems is the cooperative vehicle-infrastructure system. In Thailand, ITS technologies are rapidly growing and real-time vehicle information is considerably needed for ITS applications; for example, vehicle fleet tracking and control and road traffic monitoring systems. This paper defines the communication protocols and software design for middleware components of B-VIS (Burapha Vehicle-Infrastructure System). The proposed B-VIS middleware architecture serves the needs of a distributed RFID sensor network and simplifies some intricate details of several communication standards.

Keywords: Middleware, RFID sensor network, Cooperativevehicle-infrastructure system, Enterprise Java Bean.

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Authors: Mohammad J. Almalkawi

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In this communication, a low-cost circularly polarized wire antenna exhibiting improved gain performance for Dedicated Short Range Communications (DSRC), vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications is presented. The proposed antenna comprises a Y-shaped quarterwavelength monopole antenna surrounded by two iterations of eight conductive arched walls acting as parasitic elements to enhance the overall antenna gain and to shape the radiation pattern in the H-plane. A hemispherical radome shell is added to protect the antenna structure and its effect on the antenna performance is discussed. The designed antenna demonstrates antenna gain of 8.2 dB with omnidirectional far-field radiation pattern in the H-plane. The gain of the proposed antenna is also compared with the characteristic of the stand-alone Y-shaped monopole to highlight the advantages of the proposed approach.

Keywords: Circularly polarized, dedicated short-range communication, omnidirectional pattern, vehicle-to-infrastructure (V2I), vehicle-to-vehicle (V2V), Y-shaped wire monopole antenna.

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Authors: Ahmed Al-Ani

Abstract:

Feature selection is an important step in many pattern classification problems. It is applied to select a subset of features, from a much larger set, such that the selected subset is sufficient to perform the classification task. Due to its importance, the problem of feature selection has been investigated by many researchers. In this paper, a novel feature subset search procedure that utilizes the Ant Colony Optimization (ACO) is presented. The ACO is a metaheuristic inspired by the behavior of real ants in their search for the shortest paths to food sources. It looks for optimal solutions by considering both local heuristics and previous knowledge. When applied to two different classification problems, the proposed algorithm achieved very promising results.

Keywords: Ant Colony Optimization, ant systems, feature selection, pattern recognition.

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Authors: Min Ye Koo, Ji Ho Ahn, Byung Il You, Gyo Woo Lee

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Everything that is attached to the outside of the vehicle to improve the driving performance of the vehicle by changing the flow characteristics of the surrounding air or to pursue the external personality is called a tuning part. Typical tuning components include front or rear air dam, also known as spoilers, splitter, and side air dam. Particularly, the front air dam prevents the airflow flowing into the lower portion of the vehicle and increases the amount of air flow to the side and front of the vehicle body, thereby reducing lift force generation that lifts the vehicle body, and thus, improving the steering and driving performance of the vehicle. The purpose of this study was to investigate the role of anterior air dam in the flow around a sedan passenger car using computational fluid dynamics. The effects of flow velocity, trajectory of fluid particles on static pressure distribution and pressure distribution on body surface were investigated by varying flow velocity and size of air dam. As a result, it has been confirmed that the front air dam improves the flow characteristics, thereby reducing the generation of lift force of the vehicle, so it helps in steering and driving characteristics.

Keywords: Numerical study, computational fluid dynamics, air dam, tuning parts, drag, lift force.

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Authors: Wonsim Cha, Kibum Kim, Kyungwook Choi, Kihyung Lee

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A co-generation system in automobile can improve thermal efficiency of vehicle in some degree. The waste heat from the engine exhaust and coolant is still attractive energy source that reaches around 60% of the total energy converted from fuel. To maximize the effectiveness of heat exchangers for recovering the waste heat, it is vital to select the most suitable working fluid for the system, not to mention that it is important to find the optimum design for the heat exchangers. The design of heat exchanger is out of scoop of this study; rather, the main focus has been on the right selection of working fluid for the co-generation system. Simulation study was carried out to find the most suitable working fluid that can allow the system to achieve the optimum efficiency in terms of the heat recovery rate and thermal efficiency.

Keywords: Cycle Analysis, Heat Recovery, Rankine Cycle, Waste Heat Recovery, Working Fluid.

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Authors: Younies Mahmoud, Mai Mabrouk, Elsayed Sallam

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Analyzing DNA microarray data sets is a great challenge, which faces the bioinformaticians due to the complication of using statistical and machine learning techniques. The challenge will be doubled if the microarray data sets contain missing data, which happens regularly because these techniques cannot deal with missing data. One of the most important data analysis process on the microarray data set is feature selection. This process finds the most important genes that affect certain disease. In this paper, we introduce a technique for imputing the missing data in microarray data sets while performing feature selection.

Keywords: DNA microarray, feature selection, missing data, bioinformatics.

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Authors: Sarra Ben Hariz, Zied Elouedi, Khaled Mellouli

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The belief K-modes method (BKM) approach is a new clustering technique handling uncertainty in the attribute values of objects in both the cluster construction task and the classification one. Like the standard version of this method, the BKM results depend on the chosen initial modes. So, one selection method of initial modes is developed, in this paper, aiming at improving the performances of the BKM approach. Experiments with several sets of real data show that by considered the developed selection initial modes method, the clustering algorithm produces more accurate results.

Keywords: Clustering, Uncertainty, Belief function theory, Belief K-modes Method, Initial modes selection.

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Authors: Altab Hossain, Ataur Rahman, A. K. M. Mohiuddin, Yulfian Aminanda

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Modeling of the dynamic behavior and motion are renewed interest in the improved tractive performance of an intelligent air-cushion tracked vehicle (IACTV). This paper presents a new dynamical model for the forces on the developed small scale intelligent air-cushion tracked vehicle moving over swamp peat. The air cushion system partially supports the 25 % of vehicle total weight in order to make the vehicle ground contact pressure 7 kN/m2. As the air-cushion support system can adjust automatically on the terrain, so the vehicle can move over the terrain without any risks. The springdamper system is used with the vehicle body to control the aircushion support system on any undulating terrain by making the system sinusoidal form. Experiments have been carried out to investigate the relationships among tractive efficiency, slippage, traction coefficient, load distribution ratio, tractive effort, motion resistance and power consumption in given terrain conditions. Experiment and simulation results show that air-cushion system improves the vehicle performance by keeping traction coefficient of 71% and tractive efficiency of 62% and the developed model can meet the demand of transport efficiency with the optimal power consumption.

Keywords: Air-cushion system, ground contact pressure, slippage, power consumption.

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Authors: Max Ti-Kuang Hou, Hui-Mei Shen, Chiang-Ni Lu, I-Jen Hsu

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We present design, fabrication, and characterization of a small (12 mm × 12 mm × 8 mm) movable railway vehicle for sensor carrying. The miniature railway vehicle (MRV) was mainly composed of a vibrational structure and three legs. A railway was designed and fabricated to power and guide the MRV. It also transmits the sensed data from the MRV to the signal processing unit. The MRV with legs on the railway was moving due to its high-frequency vibration. A model was derived to describe the motion. Besides, FEM simulations were performed to design the legs. Then, the MRV and the railway were fabricated by precision machining. Finally, an infrared sensor was carried and tested. The result shows that the MRV without loading was moving along the railway and its maximum speed was 12.2 mm/s. Moreover, the testing signal was sensed by the MRV.

Keywords: Locomotion, Micro-Robot, Miniature Railway Vehicle, Stick-Slip.

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Authors: Omid Jadidi, Fatemeh Firouzi, Enzo Bagliery

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Supplier selection, in real situation, is affected by several qualitative and quantitative factors and is one of the most important activities of purchasing department. Since at the time of evaluating suppliers against the criteria or factors, decision makers (DMS) do not have precise, exact and complete information, supplier selection becomes more difficult. In this case, Grey theory helps us to deal with this problem of uncertainty. Here, we apply Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) method to evaluate and select the best supplier by using interval fuzzy numbers. Through this article, we compare TOPSIS with some other approaches and afterward demonstrate that the concept of TOPSIS is very important for ranking and selecting right supplier.

Keywords: TOPSIS, fuzzy number, MADM, Supplier selection

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Authors: C. Ardil

Abstract:

In this paper, a new MCDMA approach, the permanent analytics process is proposed to assess the immovable valuation criteria and their significance in the placement of the healthcare facility. Five decision factors are considered for the value and selection of immovables. In the multiple factor selection problems, the priority vector of the criteria used to compare several immovables is first determined using the permanent analytics method, a mathematical model for the multiple criteria decisionmaking process. Then, to demonstrate the viability and efficacy of the suggested approach, twenty potential candidate locations were evaluated using the hospital site selection problem's decision criteria. The ranking accuracy of estimation was evaluated using composite programming, which took into account both the permanent analytics process and the weighted multiplicative model. 

Keywords: Hospital Facility Location Selection, Permanent Analytics Process, Multiple Criteria Decision Making (MCDM)

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Authors: B.Gokulnath

Abstract:

We see in the present day scenario that the Global positioning system (GPS) has been an effective tool to track the vehicle. However the adverse part of it is that it can only track a vehicle-s position. Our present work provides a better platform to track and disable a vehicle using wireless technology. In our system we embed a microcomputer which monitors the series of automotive systems like engine, fuel and braking system. The external USB modem is connected with the microcomputer to provide 24 x 7 internet accesses. The microcomputer is synchronized with the owner-s multimedia mobile by means of a software tool “REMOTE DESKTOP". A unique username and password is provided to the software tool, so that the owner can only access the microcomputer through the internet on owner-s mobile. The key fact is that our design is placed such that it is known only to the owner.

Keywords: GPS, Microcomputer, Multimedia Phone, REMOTEDESKTOP, USB Modem.

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Authors: Gülcin Büyüközkan, Mehmet Sakir Ersoy

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The decision of information technology (IT) outsourcing requires close attention to the evaluation of supplier selection process because the selection decision involves conflicting multiple criteria and is replete with complex decision making problems. Selecting the most appropriate suppliers is considered an important strategic decision that may impact the performance of outsourcing engagements. The objective of this paper is to aid decision makers to evaluate and assess possible IT outsourcing suppliers. An axiomatic design based fuzzy group decision making is adopted to evaluate supplier alternatives. Finally, a case study is given to demonstrate the potential of the methodology. KeywordsIT outsourcing, Supplier selection, Multi-criteria decision making, Axiomatic design, Fuzzy logic.

Keywords: IT outsourcing, Supplier selection, Multi-criteria decision making, Axiomatic design, Fuzzy logic

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Authors: H. B. Kekre, Tanuja K. Sarode, Bhakti Raul

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In this paper we propose segmentation approach based on Vector Quantization technique. Here we have used Kekre-s fast codebook generation algorithm for segmenting low-altitude aerial image. This is used as a preprocessing step to form segmented homogeneous regions. Further to merge adjacent regions color similarity and volume difference criteria is used. Experiments performed with real aerial images of varied nature demonstrate that this approach does not result in over segmentation or under segmentation. The vector quantization seems to give far better results as compared to conventional on-the-fly watershed algorithm.

Keywords: Image Segmentation, , Codebook, Codevector, data compression, Encoding

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Authors: F. Iscan, C. Yagci

Abstract:

Rapid population growth, urbanization and industrialization are known as the most important factors of environment problems. Elimination and management of solid wastes are also within the most important environment problems. One of the main problems in solid waste management is the selection of the best site for elimination of solid wastes. Lately, Geographical Information System (GIS) has been used for easing selection of landfill area. GIS has the ability of imitating necessary economic, environmental and political limitations. They play an important role for the site selection of landfill area as a decision support tool. In this study; map layers will be studied for minimum effect of environmental, social and cultural factors and maximum effect for engineering/economic factors for site selection of landfill areas and using GIS for a decision support mechanism in solid waste landfill areas site selection will be presented in Aksaray/Turkey city, Güzelyurt district practice.

Keywords: GIS, landfill, solid waste, spatial analysis.

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Authors: O. Kadri, M. D. Mouss, L.H. Mouss, F. Merah

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This paper proposes a novel hybrid algorithm for feature selection based on a binary ant colony and SVM. The final subset selection is attained through the elimination of the features that produce noise or, are strictly correlated with other already selected features. Our algorithm can improve classification accuracy with a small and appropriate feature subset. Proposed algorithm is easily implemented and because of use of a simple filter in that, its computational complexity is very low. The performance of the proposed algorithm is evaluated through a real Rotary Cement kiln dataset. The results show that our algorithm outperforms existing algorithms.

Keywords: Binary Ant Colony algorithm, Support VectorMachine, feature selection, classification.

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Authors: Mustafa Kisa, Fatih Mehmet Botsali

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Recent developments in automotive technology are focused on economy, comfort and safety. Vehicle tracking and collision detection systems are attracting attention of many investigators focused on safety of driving in the field of automotive mechatronics. In this paper, a vision-based vehicle detection system is presented. Developed system is intended to be used in collision detection and driver alert. The system uses RGB images captured by a camera in a car driven in the highway. Images captured by the moving camera are used to detect the moving vehicles in the image. A vehicle ahead of the camera is detected in daylight conditions. The proposed method detects moving vehicles by subtracting successive images. Plate height of the vehicle is determined by using a plate recognition algorithm. Distance of the moving object is calculated by using the plate height. After determination of the distance of the moving vehicle relative speed of the vehicle and Time-to-Collision are calculated by using distances measured in successive images. Results obtained in road tests are discussed in order to validate the use of the proposed method.

Keywords: Image possessing, vehicle tracking, license plate detection, computer vision.

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Authors: Shinji Kajiwara

Abstract:

The basic ability of a vehicle is to “run”, “turn” and “stop”. The safeness and comfort during a drive on various road surfaces and speed depends on the performance of these basic abilities of the vehicle. Stability and maneuverability of a vehicle are vital in automotive engineering. The stability of a vehicle is the ability of the vehicle to revert back to a stable state during a drive when faced with crosswinds and irregular road conditions. Maneuverability of a vehicle is the ability of the vehicle to change direction during a drive swiftly based on the steering of the driver. The stability and maneuverability of a vehicle can also be defined as the driving stability of the vehicle. Since the fossil fueled vehicle is the main type of transportation today, the environmental factor in automotive engineering is also vital. By improving the fuel efficiency of the vehicle, the overall carbon emission will be reduced, thus reducing the effect of global warming and greenhouse gas on the Earth. Another main focus of the automotive engineering is the safety performance of the vehicle, especially with the worrying increase of vehicle collision every day. With better safety performance of a vehicle, every driver will be more confident driving every day. Next, let us focus on the “turn” ability of a vehicle. By improving this particular ability of the vehicle, the cornering limit of the vehicle can be improved, thus increasing the stability and maneuverability factor. In order to improve the cornering limit of the vehicle, a study to find the balance between the steering systems, the stability of the vehicle, higher lateral acceleration and the cornering limit detection must be conducted. The aim of this research is to study and develop a new suspension system that will boost the lateral acceleration of the vehicle and ultimately improving the cornering limit of the vehicle. This research will also study environmental factor and the stability factor of the new suspension system. The double wishbone suspension system is widely used in a four-wheel vehicle, especially for high cornering performance sports car and racing car. The double wishbone designs allow the engineer to carefully control the motion of the wheel by controlling such parameters as camber angle, caster angle, toe pattern, roll center height, scrub radius, scuff, and more. The development of the new suspension system will focus on the ability of the new suspension system to optimize the camber control and to improve the camber limit during a cornering motion. The research will be carried out using the CAE analysis tool. Using this analysis tool we will develop a JSAE Formula Machine equipped with the double wishbone system and also the new suspension system and conduct simulation and conduct studies on the performance of both suspension systems.

Keywords: Automobile, Camber Thrust, Cornering force, Suspension.

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Authors: Ahmed Al-Ani

Abstract:

The Ant Colony Optimization (ACO) is a metaheuristic inspired by the behavior of real ants in their search for the shortest paths to food sources. It has recently attracted a lot of attention and has been successfully applied to a number of different optimization problems. Due to the importance of the feature selection problem and the potential of ACO, this paper presents a novel method that utilizes the ACO algorithm to implement a feature subset search procedure. Initial results obtained using the classification of speech segments are very promising.

Keywords: Ant Colony Optimization, ant systems, feature selection, pattern recognition.

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Authors: Walid S. Abd El-hamid, Sherif S. El-Etriby, Mohiy M. Hadhoud

Abstract:

Regression testing is a maintenance activity applied to modified software to provide confidence that the changed parts are correct and that the unchanged parts have not been adversely affected by the modifications. Regression test selection techniques reduce the cost of regression testing, by selecting a subset of an existing test suite to use in retesting modified programs. This paper presents the first general regression-test-selection technique, which based on code and allows selecting test cases for any programs written in any programming language. Then it handles incomplete program. We also describe RTSDiff, a regression-test-selection system that implements the proposed technique. The results of the empirical studied that performed in four programming languages java, C#, Cµ and Visual basic show that the efficiency and effective in reducing the size of test suit.

Keywords: Regression testing, testing, test selection, softwareevolution, software maintenance.

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Authors: Aimeng Wang, Dejun Ma, Hui Wang

Abstract:

The paper presents a detailed calculation of characteristic of five different topology permanent magnet machines for high performance traction including hybrid -electric vehicles using finite element analysis (FEA) method. These machines include V-shape single layer interior PM, W-shape single-layer interior PM, Segment interior PM and surface PM on the rotor and with distributed winding on the stator. The performance characteristics which include the back-emf voltage and its harmonic, magnet mass, iron loss and ripple torque are compared and analyzed. One of a 7.5kW IPM prototype was tested and verified finite-element analysis results. The aim of the paper is given some guidance and reference for machine designer which are interested in IPM machine selection for high performance traction application.

Keywords: Interior permanent magnet machine, finite-element analysis (FEA), five topologies, electric vehicle.

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Authors: Xu-xia Hu, Eric T. T. Wong

Abstract:

The simulation of external aerodynamics is one of the most challenging and important automotive CFD applications. With the rapid developments of digital computers, CFD is used as a practical tool in modern fluid dynamics research. It integrates fluid mechanics disciplines, mathematics and computer science. In this study, two different types of simulations were made, one for the flow around a simplified high speed passenger car with a rear-spoiler and the other for the flow without a rear-spoiler. The standard k-ε model is selected to numerically simulate the external flow field of the simplified Camry model with or without a rear-spoiler. Through an analysis of the simulation results, a new rear spoiler is designed and it shows a mild reduction of the vehicle aerodynamics drag. This leads to less vehicle fuel consumption on the road.

Keywords: CFD, vehicle rear-spoiler design.

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Authors: Peyman Naderi, Ali Farhadi, S. Mohammad Taghi Bathaee

Abstract:

One of the best ways for achievement of conventional vehicle changing to hybrid case is trustworthy simulation result and using of driving realities. For this object, in this paper, at first sevendegree- of-freedom dynamical model of vehicle will be shown. Then by using of statically model of engine, gear box, clutch, differential, electrical machine and battery, the hybrid automobile modeling will be down and forward simulation of vehicle for pedals to wheels power transformation will be obtained. Then by design of a fuzzy controller and using the proper rule base, fuel economy and regenerative braking will be marked. Finally a series of MATLAB/SIMULINK simulation results will be proved the effectiveness of proposed structure.

Keywords: Hybrid, Driving, Fuzzy, Regeneration.

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