100results about How to "The design idea is simple" patented technology

The invention discloses an impedance matching method for a gold bonding wire. The method comprises the following steps: establishing a gold bonding wire model; extracting model parameters in a circuit application frequency band; causing the gold bonding wire model to be equivalent to a TT-shaped low-pass filter network; fitting equivalent network parameters by using the extracted model parameters; and introducing the extracted model parameters into a to-be-matched schematic diagram and adding a Smith chart matching control. In the Smith chart, 2-4 sections of micro-strip wires are serially connected so as to establish a matching network; a load impedance is converted into an actual impedance by first to second sections; the actual impedance is converted into a source impedance by a third section which is a Lambda / 4 converting wire, thereby achieving impedance matching; and a fourth section is a gradual changing wire used for transition. The impedance matching method has the advantagesof simple design concept, easiness in application, capability of saving a circuit board space, small frequency limitation, wide frequency band width and excellent compensation effect. The impedance matching method is used for interconnecting monolithic microwave integrated circuits, coplanar waveguides, microwave transmission lines or RF (Radio Frequency) grounding sides.

The invention discloses a deep learning method-based automatic pulmonary nodule detection method. The method comprises the following steps of: a, preprocessing: acquiring CT files of a plurality of patients so as to form a data set, and making the CT file corresponding to each patient to a CT file comprising 100-600 slices, wherein a pixel separation distance of each slice is 1*1*1 mm, and the size of each slice is 512*512 pixel; b, lung area image extraction: carrying out pixel value binarization on the CT file of each patient on the basis of a Heinz unit value so as to obtain a mask map of alung area, and extracting a lung area image according to the mask map; c, pulmonary nodule detection: detecting a U-Net convolutional neural network to carrying out pulmonary nodule detection on thelung area image so as to obtain a U-Net training model; and d, false positive rate reduction: training a deep residual network to get rid of false positive points of pulmonary nodules in the U-Net training model so as to obtain a detection model, and carrying out automatic pulmonary nodule detection on the CT files of the patients by using the detection model. The method is high in automatic detection precision.

The invention discloses a microcloud computing resource allocation method based on a pricing mechanism in an edge computing environment. The concept of a central controller is introduced, idle resources of cooperation microcloud are coordinated and utilized, the goal of reducing transmission delay and energy consumption is realized, the relationship between the microcloud and the central controller is modeled as a double-phase Stackelberg game, each cooperation microcloud determines the computing resource quantity required in the deployment phase, and the central controller coordinates the resource sharing between microcloud in the operation phase, so that the resource utilization rate of an edge computing system based on microcloud is increased, and the cost of a network service provideris reduced to the utmost extent when the user service quality is maintained.

The invention provides a hypersonic flight vehicle attitude control method considering input saturation, which comprises the following steps of: 1, combining uncertainty of parameters, unmodeled dynamics and external disturbance in an unpowered reentry process mathematical model of a hypersonic flight vehicle to serve as total disturbance, and establishing models of an attitude loop and an angularrate loop, 2, designing a performance function to constrain steady-state and transient-state performances of state variable tracking errors of the attitude loop and the angular rate loop of the flight vehicle, 3, converting the inequality constraints obtained in the step 2 into equality constraints so as to facilitate controller design, 4, designing a linear extended state observer, and obtainingan output estimation value and a total disturbance estimation value of each loop, and step 5, designing a controller, so that the tracking error of the system can be converged to a preset area underthe condition of facing input saturation constraints. According to the method, the design and parameter optimization of the linear active disturbance rejection controller of the hypersonic flight vehicle are realized, and the dynamic performance, the robust performance and the anti-interference performance of the hypersonic flight vehicle are improved.

The present invention is suitable for the intelligent traffic technology field, and provides a system and method for priority pass of an emergency vehicle based on the V2X technology. The system comprises a location unit arranged on an emergency vehicle, a road side unit arranged at the side of a crossing and a traffic light control unit. The location unit is configured to obtain the position of the emergency vehicle on time and send the position of the emergency vehicle to the road side unit when the emergency vehicle accesses a vehicle and road wireless communication range; the road side unit is configured to determine the lane where the emergency vehicle is located and the position of the lane, generate the control instruction of the traffic light and transmit the control instruction to the traffic light unit according to the current position of the emergency vehicle; and the traffic light control unit is configured to control the state of the traffic light of the lane where the emergency vehicle is located based on the control instruction. The scheme of the priority pass of the emergency vehicle provided by the embodiment of the invention is designed based on the current position of the emergency vehicle, and the design idea is simple so as to have high practicality.

The invention provides a large-field-of-view double-cascaded variable focus lens capable of eliminating monochromatic aberration and a design method thereof, and can effectively eliminate monochromatic aberration in a large field of view. The large-field-of-view double-cascaded variable focus lens capable of eliminating monochromatic aberration, to which the invention relates, is characterized bycomprising quartz glass, a first nano brick array structure and a second nano brick array substrate, wherein the first nano brick array structure is formed on the surface of one side of the quartz glass and used for correcting aberration of the lens in the large field of view; the second nano brick array substrate is formed on the surface of the other side of the quartz glass and used for implementing focusing of parallel beams; both the first nano brick array structure and the second nano brick array substrate are formed by periodically arranging nano brick units; and the nano bricks are of acuboid shape and a length, a width and a height of each nano brick unit are sub-wavelength sizes. The large-field-of-view double-cascaded variable focus lens provided by the invention has the advantages of small volume, low cost, light weight and simple design thought, and is very suitable to apply to a micro photoelectric system.

The invention relates to a privacy protection quantitative analysis method in a location-based service. Firstly, an optimal strategy model of user location-based service privacy protection is designed and built; according to corresponding design, an attacker privacy attack strategy model is built then; and, finally, based on game theory thinking, a simulation test is performed aiming at the optimal strategy model of the user location-based service privacy protection and the attacker privacy attack strategy model, the verification analysis is performed aiming at a simulation result, evaluation aiming at a user location-based service privacy protection effect is achieved, a user's specific mobile behavior is analyzed aiming at an attacker by utilizing user historical trajectory data, a condition that a user uses a location privacy protection algorithm is known, and evaluation aiming at user's privacy protection effects of multiple positions in a period of time can be achieved well.

The invention relates to an operation method of an electrostatic field oil-water separation system. The electrostatic field oil-water separation system comprises an oil-water separation tank, a support, a press machine, a transformer, a degassed oil input port, an anode electrode plate, an annular cathode electrode plate, an oil outlet, an oil pumping pump, an upper pressure sensor, an upper dielectric constant sensor, an oil mud outlet, an oil mud pumping pump, a lower pressure sensor, a lower dielectric constant sensor, a control cabinet, an adapter module and a central computer. The operation method of the electrostatic field oil-water separation system has the advantages that the problems that crude oil dehydration rate is low, massive oil is contained in discharged water and energy consumption is high are solved, so that space of an electrostatic field is expanded, dehydration time of crude oil in the electrostatic field is shortened, dehydration efficiency is effectively improved, operation power consumption is reduced, production cost is reduced, energy conservation and environmental protection are achieved, height of an emulsion layer is effectively reduced, oil contained in the discharged water is reduced, sewage treatment cost and environmental protection pressure are reduced, structure is simple, operation is convenient, design thought is simple, an electrostatic field separation effect is good, and the operation method of the electrostatic field oil-water separation system is applicable to popularization and application.

The invention provides a maximum power point tracking method for rapidly self-adapting step length of a photovoltaic array to solve a technical problem. The method is simple in design thinking and easy to realize; and the step length can be also automatically adjusted to track a maximum power point of the photovoltaic array. According to the invention, the self-adaptive step length v (v= / dP / dV / ) is beyond a neighborhood U (Pmax, epsilon) of the maximum power point by using a logarithm operation form, so that larger stable step length is kept; and within the neighborhood U (Pmax, epsilon) of the maximum power point, the self-adaptive step length v is further rapidly reduced and the step length v of 0 at the maximum power point is guaranteed, so that the self-adaptive step length v is more sensitive and the tracking speed of the system is increased and tracking accuracy of a system is improved.

The invention relates to an unmanned aerial vehicle airborne image defogging method and device. The method comprises the steps that firstly, according to the airborne information processing requirement of an unmanned aerial vehicle, an airborne video acquisition module completes image interlacing or line-by-line processing; Secondly, performing defogging grade analysis on the acquired video imagedata in an embedded system, and calculating a defogging feedback adjustment parameter; Secondly, parameterization analysis is carried out through a feedback control module according to the fog-containing level, a defogging feedback adjustment parameter is obtained, a defogging parameter of a defogging processing module is adjusted, and defogging processing work of the image is completed; And finally, finishing video data compression processing on the defogged image data through a video compression module, and transmitting the defogged image data to an airborne information processing port. Theimage defogging processing is carried out by utilizing the image defogging module, the feedback control module and the embedded system, so that the design complexity and the power consumption of the system can be effectively reduced, and meanwhile, the flexibility of system application is improved.

The invention provides a hypersonic aircraft anti-interference backstepping control method considering input limitation. The hypersonic aircraft anti-interference backstepping control method comprisesthe steps of 1, establishing models of an attitude loop and an angular rate loop; 2, designing a preset performance function to constrain steady-state and transient-state performances of state variable tracking errors of an attitude loop and an angular rate loop of an aircraft; 3, designing a high-gain extended state observer, and obtaining an output estimation value and a total disturbance estimation value of each loop; and 4, designing a disturbance compensation control method based on the framework of a backstepping method so as to enable the tracking error of the system to be converged toa preset region under the condition of facing input saturation constraints. Tracking control over the attitude loop and the angular rate loop of the hypersonic aircraft is achieved, the dynamic performance and the steady-state performance of the whole control system are improved through the preset performance control method, and the anti-interference performance and the robustness of the whole system are improved through the design of an observer.

The invention discloses a flow-equalizing control circuit and a control method of an interleaved series direct current (DC) / DC converter. The circuit and the method are high in stability. The flow-equalizing control circuit of the interleaved series DC / DC converter comprises an input DC voltage, a plurality of DC / DC modules, a filtering circuit, a load and a control circuit, wherein the DC / DC modules comprise switch circuits; and the control circuit comprises a comparison circuit, a signal processing circuit and a driving circuit. Under the condition of no addition of other hardware circuits, the flow-equalizing control circuit controls an external pipe in the switch circuit after central processing units (CPU) (the comparison circuit and the signal processing circuit) performs signal processing on output currents (I1 and I2) of the DC / DC modules, so the equalization of parallel output currents is well realized, and current stability is good; and the invention is particularly applicable to flow-equalizing control of the DC converter which inputs a high voltage and outputs a low voltage and a large current.

The invention discloses a polyolefin nanometer fiber film sensor for rapid bacterium detection and a preparation method thereof. According to the invention, polyolefin copolymer is adopted as a substrate material, and the chemically-modified polyolefin nanometer fiber film biosensor is prepared by surface chemical modification, and solid phase synthetic process of bioactive molecules. The nanometer fiber film biosensor prepared by the method of the invention overcomes, with respect to performance, the disadvantages of time consumption, manpower consumption, poor accuracy for bacterium culture and bacterial colony counting in traditional bacterium detection, realizes rapid detection of ATP released by bacteria by using the luminescence principle between triphosadenine, luciferase, and fluorescein, and realizes rapid response to biological harmful substances. With the solid phase synthesis, bioactive enzymes are well fixed on the surface of the nanometer fiber film, which realizes repeated and circular detection of bacteria. The nanometer fiber film sensor is widely applicable to fields of biotechnology, medical health, food and medicine detection, water treatment, and the like.

The invention provides a beam forming network and a dual-polarized five-beam antenna. The beam forming network comprises a first network, a second network and a third network connected in sequence, wherein the first network is provided with five signal input ports, and one path of signals can provide two paths of signal inputs for the second network from each signal input port; the second network comprises two three-input four-output matrix network, every two paths of signals provided by the first network are respectively input to the second network from respective one input port of the two matrix networks, and are subjected to coupling and phase modulation of the second network to output eight paths of signals with phase difference; the third network is used for performing power dividing and combination on six of the eight paths of signals output by the second network to form at least ten paths of signals with phase difference. The beam forming network with five input ports and at least ten output ports can be formed, so that different phase configurations are formed at different output ports when signals are input at different input ports, and five different beam directions are formed.

The invention relates to a novel emulsified asphalt mixing time tester. The novel emulsified asphalt mixing time tester mainly comprises a bracket, a material containing bucket, agitating blades, a dynamic torque sensor, a controller, a data acquisition system, a connector, a rotary shaft, a rail and a motor. The agitating blades, the dynamic torque sensor, the controller and the motor are connected together through the rotary shaft from bottom to top and are connected to the bracket through the rail; the controller is arranged at the upper part of the bracket; the material containing bucket is mounted at the lower end of the bracket. The invention provides the emulsified asphalt mixing time tester capable of realizing an accurate testing result. With the adoption of the tester, the mixing time of emulsified asphalt can be accurately determined and the non-construction time of the emulsified asphalt can also be determined. The mixing time tester is also applicable to the test of the mixing time of concrete and the like.

The invention discloses an unbalance compensation method for rotor unbalance coefficient variable-angle iterative search. The method comprises the steps of vibration signal processing, variable anglecompensation algorithm recognition coefficient searching and compensation current calculation, wherein a vibration signal processing module calculates a rotor unbalance vibration signal amplitude according to rotor vibration information, rotor rotation angle information and rotation speed information; the variable-angle compensation algorithm is used for searching for recognition coefficients, the rotor unbalance vibration signal amplitude serves as the judgment basis, the unbalance coefficients are repeatedly identified and optimized through a variable-angle iterative search method, and a set of unbalance coefficients enabling the unbalance vibration amplitude to be reduced to the minimum are obtained through iteration. Corresponding compensation current is calculated according to the unbalance coefficient and input into the electromagnetic coil to restrain unbalance vibration of the rotor. The method can be used for an active rotor system with an active control unit, unbalance on-line compensation of the active rotor system is achieved, and unbalance vibration in the acceleration and deceleration operation process within the whole rotating speed range is restrained.

The invention relates to a propeller for a ship, in particular to a propeller with blade tip vibration and for a vibration attenuation and noise reduction ship, and belongs to the field of ship manufacturing. The problem that traditional propellers for ships are severe in vibration and high in noise is solved. The propeller comprises a propeller hub and a plurality of blades. The multiple blades are evenly mounted on the outer side wall of the propeller hub in the circumferential direction of the propeller hub. The propeller further comprises a plurality of rotary hinges, a plurality of driver displacement transmission rods and a plurality of drivers. Each blade is composed of a blade tip and the blade main body, and the blade tip is connected with the blade main body through the two rotary hinges. The multiple drivers are mounted in the propeller hubs. Each driver is connected with the corresponding blade tip through the corresponding driver displacement transmission rod.

The invention is directed to the field of double closed loop direct current speed regulation system technology and particularly relates to a design method for a double closed loop direct current speed regulation system optimal controller. Firstly, the time constants of other links other than the controller are determined. The structure of the controller is selected. An OCD program is adopted so that two string grade controllers of the double closed loop direct current speed regulation system can be simultaneously designed through a computer auxiliary design technology. The parameters of the controllers can be directly obtained through the execution of the program. When the system works, the optimal controller design program starts to operate to directly obtain the parameters of the inner and outer shroud controllers when a JITAE index is optimal. Under a structure of double closed loop of electricity flow and speed, the two controllers control the continuous feedbacks of armature current and speed signal of a motor so that the speed regulation of the motor can be realized. The method surpasses the traditional way that it is a must to design the outer shroud based on the parameters of the inner shroud, the design thinking is more concise and the program execution is convenient and fast. Meanwhile, the calculation error of the system is reduced and the result is more accurate because simplification and approximation in system model derivation are reduced.

The present invention provides a vertical cavity surface emitting photonic crystal surface wave laser and its design method, the design method includes following steps: step 1: choosing a luminescent material, determining the material refractive index, selecting structure model of the photonic crystal, determining the structure parameter; step 2. calculating the dispersion relation of the structure by the super cell technology and the plane wave expansion method, obtaining a surface model; step 3. planning a surface wave micro-cavity body, the surface layer of the cavity body has periodic undulation. The invention properly changes the surface layer structure of the photonic crystal, the surface layer or the adjacent layer of the surface layer has periodic undulation, so as to improve the emitting direction of the surface wave laser, changing to a vertical cavity surface emission from the original end emission, and the constant phase surface of the emission is very flat. The design of the invention has simple thinking, better integrity, widely applying range, designing the surface wave laser of different wave bands according to the luminescent characteristic of the different materials, especially designing light source device of the light communication wave band using semiconductor material having important value.

The invention provides a method for detecting medicine-resistance mutation of tyrosine-methionineaspartate-aspartate (YMDD) of hepatitis B virus, which detects the medicine-resistance mutation of tyrosine-methionineaspartate-aspartate (YMDD) of hepatitis B virus by using a real time-amplification refractory mutation system-quantitative polymerase chain reaction (RT-ARMS-q PCR) process. In the invention, sequence specific primers and a fluorescent dye SYBRGreenI are used for amplification, the real-time monitoring of a reaction is realized, the detection time is shortened, operation steps are simplified, an analysis process after amplification is not needed, and the possibility of product pollution is lowered; and compared with a Taqman probe requiring a double marking process, the SYBRGreenI does not need designing and synthesizing a fluorescent probe, the design concept is simplified, and the cost is low. And by combining fusion curve analysis, reaction specificity is realized.

The invention discloses a new water exchange method for shellfish larvae, which belongs to the technical field of aquaculture. It is a new water exchange method invented by applying the basic principles of physics and the floating habit of shellfish larvae, and fully utilizes the floating habit of shellfish larvae. , Stop the air half an hour before changing the water, and connect the water changing device after most of the larvae float to the water surface. The water changing device is placed in the drainage ditch, the water basin is placed on the bracket, and the circular frame is placed in the water basin, and the screen silk is fixed on the frame, and the position of the water changing device is adjusted to the required water changing height in the nursery pond through the screw, and the steel wire is soft. One end of the pipe extends into the bottom of the nursery pool, and the other end reaches the screen silk screen of the water changing device, and uses the siphon method to change the water. According to the principle of the connector, when the water level in the nursery pool is the same as the height of the screen screen screen, the water flow automatically stops to meet the water change requirements. No guards needed. Using this method can achieve batch water change, only need to install and adjust the device according to the operation method to complete automatic water change, less personnel are required, the density of larvae in the lower half of the nursery pond is small after the larvae float up, and no washing is required during the water change process Tulle sieve, easy to operate, less damage to larvae, generally not broken sieve tulle, reduce the amount of sieve tulle. One end of the steel wire hose goes deep into the bottom of the pool to suck out dead and unhealthy larvae, which improves the quality of larvae in the pool and reduces the occurrence of diseases. This method is simple in design, strong in practicability, labor-saving, labor-saving, and easy to operate, and effectively solves a series of problems such as time-consuming, labor-intensive, many personnel required, and high management costs in the traditional water-changing method.

A rail-to-rail level shift circuit with high linearity belongs to the electronic circuit field. an computing strategy comparator and two-grade digit selectors are employed to generate first A channel control signals A and second A channel control signals -A, or first B channel control signals B and second B channel control signals -B to control input voltage to access an A channel or a B channel, wherein the A channel is formed by allowing input voltage of the level shift circuit to pass through a first-grade digit selector, a voltage reduction unit, the first-grade digit selector, a boosting unit and a second-grade digit selector, and the B channel is formed by allowing the input voltage of the level shift circuit to pass through the first-grade digit selector, the boosting unit, the first-grade digit selector, the voltage reduction unit and the a second-grade digit selector. The complex circuit design and the extra power consumption demand are avoided, and an interface circuit of a common mode level through high linearity regulation of external sampling to an internal operational amplifier.

The embodiments of the invention provide an audio data processing method, apparatus and system, and relates to the technical field of information processing, aiming at ensuring the coverage of to-be-played audio data while setting a memory pool. The audio data processing method includes the following steps: if a triggering instruction is received, uninstalling a to-be-configured information control node of unit data from a first queue, configuring the uninstalled to-be-configured information control node, the configured information control node including the attribute information of to-be-played audio data; linking the configured information control node to a second queue and a third queue; uninstalling the configured information control node of the unit data from the third queue; based on the attribute information of the to-be-played audio data which is uninstalled configured information control node, reading the corresponding to-be-played audio data; and linking the uninstalled configured information control node to a fourth queue. According to the invention, the audio data processing method, the apparatus and the system are applied to a digital television system.

The invention relates to an additional damping inner loop control method for a multi-terminal flexible direct current system and an additional damping controller. The method comprises the steps of 1,obtaining modal deviation signals in the system from an alternating current bus voltage of a converter station through a phase locking link; 2, filtering the modal deviation signals which are extracted in the step 1 and contain frequency information and phase information at the same time, and extracting sub-synchronous frequency signals from the frequency signals; 3, based on the sub-synchronous frequency signals in the frequency signals extracted in the step 2, carrying out phase compensation on the magnitude of phase change generated when each sub-synchronous modal component passes through the alternating current and direct current system; and 4, superposing the signals after the phase compensation link in the step 3 to a control system of the converter. The method can be applied to themulti-terminal flexible direct current system and a traditional double-terminal flexible direct current system at the same time.

The invention relates to a shield tunnel excavation model test box. A box body front part, a box body rear part, two side walls of the box body and the bottom of the box body are steel plates; tempered glass layers are arranged in the inner sides of the front portion of the box body, and tempered glass of the tempered glass layers is fixed to a steel plate on the front portion of the box body through fixing bolts; reinforcing ribs are arranged in the outer sides of the steel plates, and a simulation duct piece is arranged in the box body in a penetrating manner; a fiber bragg grating is arranged in the outer side of the simulation segment; a piston is arranged in the simulation duct piece, the piston is connected with loading equipment through a piston rod, a hydraulic cavity for containing the hydraulic oil is formed between the piston and the sealing end of the simulation duct piece, the inner space of the box body on the outer side of the simulation duct piece is filled with the soil body, and the existing structure is arranged at the top of the box body; and a multi-point displacement meter is buried in a soil body in the box body, and vertical differential settlement of the soil body is monitored through the multi-point displacement meter.

The invention relates to a lung CT image adhesion vascular nodule detection method. The method comprises the following steps: 1, obtaining a 3D lung CT sequence image of a user; 2, standardizing the 3D image to obtain a plurality of 3D cube sample blocks with the same size; 3, performing enhancement processing on the standardized 3D image data, and then inputting the standardized 3D image data into a preset deep learning network model for training, thereby obtaining a trained pulmonary nodule detection model; 4, inputting the tested 3D lung CT sequence image into the trained pulmonary nodule detection model so as to obtain a preliminary pulmonary nodule detection result; and 5, for a preliminary pulmonary nodule detection result, drawing an ROC curve according to a result of the test sample set, and determining an optimal threshold value according to characteristics of the ROC curve and an AUC value for classifying benign and malignant pulmonary nodules by using the trained new neuralnetwork model. Under the condition that the overall precision is guaranteed, false positive can be further reduced, the film reading pressure of doctors is greatly reduced, the doctors can be more focused on other more creative tasks, and huge economic and social benefits are achieved.

The invention belongs to the field of casting of high-temperature alloy hollow turbine blades, and relates to a method for self-adaptive positioning of a ceramic mold core in a wax mold pressing mold.By optimizing the structural design scheme of a mold core mold and the wax mold pressing mold, a ceramic mold core formed through sintering is placed in the wax mold pressing mold, and the pose of the ceramic mold core in an appearance mold is controlled through six height-adjustable positioning bosses embedded in a loose piece of the wax mold pressing mold; and it is guaranteed that the mold core and the positioning bosses are in an attached state through 1-3 elastic press-fit devices with a limiting function which are embedded in the loose piece of the wax mold pressing mold. The method issimple and easy to implement, effectively reduces wall thickness out-of-tolerance scrapping caused by core shift of a blade, improves the wall thickness size precision and consistency of a cast part,greatly improves the product percent of pass, reduces economic losses, shortens the product development period and reduces the mold iteration cost.

The invention discloses a control method of a solar heat pump composite hot water system. The method comprises following steps: firstly, whether a controller completes initialization of system parameters or not is judged; secondly, after initialization is completed, the bottom area of a water tank is tested; thirdly, heating power of a heat pump at the different water tank hot water temperatures is tested; fourthly, whether a user completes setting of simple parameters or not is judged, if yes, the parameters are updated, and if not, default use parameters are determined according to a conventional use scene; fifthly, whether the user needs to use water in a timing manner or not is judged, if yes, in order to ensure water using requirement of the user, timing constant-temperature water supply is adopted, and if not, water is supplied according to the conventional total amount; sixthly, according to hot water enthalpy, energy of hot water finally needed by the user is analyzed and determined; and seventhly, the moment value is recorded at intervals of fixed time, and the water tank temperature value and the water tank liquid level value at the moment are measured. The method has the beneficial effects of being high in automation degree and saving energy.