71results about How to "Optimize calculation speed" patented technology

The invention discloses a dressed human body three-dimensional bare body model calculation method through one single Kinect. The method includes calibrating a Kinect camera, capturing a dressed human body RGB-D images and frame information, and extracting human body deep images before denoising; dividing the human body into multiple rigid parts, acquiring partial human body deep images by segmenting, acquiring a three-dimensional human body shape by registering and infusing, and acquiring a complete three-dimensional human body shape by matching and combining before denoising; acquiring a three-dimensional bare body sample model to construct matrix and reduce the dimensionality, and acquiring low-dimensional three-dimensional bare body sample matrix and mapping matrix; selecting a template model to be flushed with initial frame postures; fitting the template model to the three-dimensional human body shape through corresponded points to project to the low-dimensional matrix, multiplying by the mapping matrix, and acquiring a three-dimensional bare body module; repeating iterations until a final three-dimensional bare body model is acquired. By the aid of the method, the problem of excessive fitting of the dressed human body is solved, and a personalized three-dimensional bare body model can be calculated for the dressed human body rapidly, conveniently and economically through single Kinect equipment.

The use of a configuration-based execution model in conjunction with a content addressable memory (CAM) architecture provides a mechanism that enables performance of a number of computing concepts, including conditional execution, (e.g., If-Then statements and while loops), function calls and recursion. If-then and while loops are implemented by using a CAM feature that emits only complete operand sets from the CAM for processing; different seed operands are generated for different conditional evaluation results, and that seed operand is matched with computed data to for an if-then branch or upon exiting a while loop. As a result, downstream operators retrieve only completed operands. Function calls and recursion are handled by using a return tag as an operand along with function parameter data into the input tag space of a function. A recursive function is split into two halves, a pre-recursive half and a post-recursive half that executes after pre-recursive calls.

The invention aims at providing a sound field rebuilding method. The sound field rebuilding method comprises the following steps that firstly, a sound pressure value of a measuring face in a measuring sound field is measured; secondly, different sound sources are endowed with a certain weight through the centroid method according to the actual positions of the sound sources and the sound intensity, the positions and number of multi-ball virtual source intensities and the position coordinates of each virtual ball are calculated; thirdly, zero filling expanding is carried out on the measured sound pressure value of the measuring face to obtain the sound pressure value of an expanding face of the measuring face; fourthly, a transfer matrix between the sound pressure value of the expanding face of the measuring face and the virtual ball sound pressure is calculated; fifthly, a transfer matrix between the sound pressure value of a rebuilding face and the sound pressure value of the multi-ball virtual equivalent source intensities is built; sixthly, the transfer matrix obtained in the fourth step and the transfer matrix obtained in the fifth step are combined, and the sound pressure value of the rebuilding face is obtained. According to the sound field rebuilding method, multi-ball region two-dimensional fast Fourier conversion algorithm is introduced, a virtual source intensities configuration and the measuring face do not need to be conformal, and the calculation efficiency and calculation precision are very high.

The invention discloses a dynamic authentication method of a client side suitable for a mobile cloud. The method comprises the following steps: 1) conducting cluster analysis of historical location information of a user; 2) sending a cloud service request / requests to an authentication server through the client side by the user; 3) confirming a cluster A to which the current location information of the client side corresponds by the authentication server, if the ratio of the number of data points in the cluster A to a sum is less than a threshold value t, deciding that the current location information is an outlier and conducting authentication, if the authentication is passed, recording the current location information in a misinformation point collection and responding to the request, otherwise, refusing the request, and recording the current location information in an outlier collection; 4) if the sum of the recorded misinformation point collection and the recorded outlier collection is greater than a threshold value L, marking and combining the sum to be used as a training data of classification to obtain a classification model; and 5) as for subsequent cloud service requests of the user, utilizing the classification model to conduct classification for outliers to respond to the cloud service request. The method improves the data security and account security of the user.

A method of automatically compensating a multi- or hyper-spectral, multi-pixel image for atmospheric effects, comprising resolving a plurality of spectrally-diverse pixels from the image, determining a spectral baseline from the spectrally-diverse pixels, determining a statistical spectral deviation of the spectrally-diverse pixels, normalizing the statistical spectral deviation by applying a scale factor, and compensating image pixels with both the spectral baseline and the normalized spectral deviation. Another embodiment features a method of automatically determining a measure of atmospheric aerosol optical properties using a multi- or hyper-spectral, multi-pixel image, comprising resolving a plurality of spectrally-diverse pixels from the image, determining a statistical spectral deviation of the spectrally-diverse pixels, correcting the statistical spectral deviation for non-aerosol transmittance losses, and deriving from the statistical spectral deviation one or more wavelength-dependent aerosol optical depths. A final embodiment features a method of automatically determining a measure of atmospheric gaseous optical properties using a multi- or hyper-spectral, multi-pixel image, comprising resolving a plurality of spectrally-diverse pixels from the image, determining a statistical spectral deviation of the spectrally-diverse pixels, and deriving from the statistical spectral deviation wavelength-dependent gaseous optical depths.

The invention discloses a three-phase decoupling load flow calculation method of a power distribution network based on a path matrix. The method comprises the following steps: firstly, adopting a symmetrical component method to perform sequence component decoupling on a three-phase unbalanced power distribution network to obtain zero sequence, a power distribution sequence network with positive sequence and negative sequence, and adopting a loop-analysis method based on the path matrix to perform one-phase-sequence component load flow calculation to obtain load flows of the three-sequence networks; and secondly, transforming sequence network load flows in a phase component mode by an inverse transformation principle of the symmetrical component method to obtain three-phase load flows. By using the method, a three-phase unbalanced power distribution network system is decoupled into zero sequence, positive sequence and negative sequence networks, so that large matrix manipulation in the three-phase load flow calculation is avoided, the calculated amount is decreased, and the calculation efficiency is improved. The method has the advantages of clear calculation process, simple programming and fast calculation speed. Finally, a 6-busbar test example verifies the correctness and good convergence; and the method is good in generality and practical applicability.

The invention discloses a three-phase decoupling power flow calculation method for a power distribution network containing multiple transformer branches. According to the characteristics of basically symmetrical three-phase line parameters, unbalanced three-phase load and the tree structure of the power distribution network, the method comprises the following steps: performing sequence component decoupling on the three-phase unbalanced network of the power distribution network by a symmetrical component method; in a power distribution three-sequence network model, transforming the transformer branches into the common branches by a phase transformation technology; and calculating the sequence network power flow of the power distribution system by a path matrix-based loop analysis method and transforming sequence component power flow into phase component power flow by an inverse transformation principle so as to realize three-phase decoupling power flow calculation of the three-phase unbalanced system of the power distribution network containing multiple transformer branches and reduce calculated quantity. The method is clear in calculation process, simple in programming and high in calculation speed. The correctness and high convergence property of the method are verified through 34 bus test calculation examples. The method has high generality and practicability.

The invention discloses a method for calculating the power flow of a radial power distribution network based on variable substitution. The method comprises the following steps of: firstly, converting 2 / 3 of unbalance equations into linear equations in power flow calculation by using variable substitution according to the special topological structure and characteristic of the radial power distribution network, wherein the other 1 / 3 of unbalance equations are also relatively simple; then, because nonzero elements of a jacobian matrix formed by an unbalance equation set are relatively fixed, respectively calculating the invariant elements and a small number of variable elements of the jacobian matrix by using a sparse technique, wherein the invariant elements do not need to be repeatedly calculated, and a calculation formula of the variable elements is also relatively simple; and finally, carrying out iteration solving on the unbalance equation set to obtain the power flow of the system. The calculation speed and efficiency of a power flow algorithm are improved foundationally through the variable substation and the sparse technique; and the method has the characteristics of clear calculation process, easiness for programming and the like. Finally, the effectiveness and efficient calculation capability of the method are proved through a plurality of test cases.

Disclosed in the invention is a low-light and infrared night vision image fusion method. The method comprises: step one, for one same target scene, collecting an original low-light image and an original infrared image respectively; step two, carrying out de-noising processing on the collected original low-light and infrared images; step three, carrying out effective and precise registering on the low-light and infrared images after de-noising by using an edge-feature-based image registration method; and step four, carrying out image fusion on the registered image by using a wavelet transform method. According to the invention, the low-light night-vision image and the infrared night-vision image are fused and advantages of the two images can be fully realized; and the multifunctional advantage of the night-vision system is increased, so that the observer can obtain accurate, comprehensive and reliable image information of a certain scene. Therefore, with the method, a fused image with a super high quality can be obtained and the fusion speed is fast.

A method of determining buffer insertion locations in an integrated circuit design establishes candidate locations for inserting buffers into a net, and selects buffer insertion locations from among the candidates based on slew constraints. The selection of buffer insertion locations preferably optimizes slack and buffer cost while keeping slew from any buffered node to any sink less than a required slew rate. The slew analysis computes an output slew SL(v) of a given buffer b inserted at a node v as SL(v)=RS(b)·C(v)+KS(b), where C(v) is the downstream capacitance at v, RS(b) is the slew resistance of buffer b, and KS(b) is the intrinsic slew of buffer b. The delay through a given buffer may also be computed based on signal polarity. However, the invention still preferably uses worst-case slew resistance and intrinsic slew in considering the slew constraints. If the selection of the buffer insertion locations results in no locations being selected due to slew violations, the present invention may advantageously find a partial solution by relaxing the slew constraint.

A method and computer program for determining an error factor for a differential global positioning system is disclosed as well as a method of tracking a vehicle. In determining the error factor, estimated positional data is transmitted from a GPS via GPRS to a server. Since the GPS signals are being transmitted from a vehicle travelling along a known route, i.e. a road or rail track, the data can be matched to the route and a correction factor calculated. The error factor is then transmitted to differential GPS devices. For vehicle tracking a global positioning system sends, via GPRS, data a regular intervals relating only to its position.

The invention discloses a vehicle-mounted Bluetooth positioning system and a positioning method thereof, and relates to the field of Bluetooth positioning, the positioning system comprises a user mobile device terminal, a vehicle-mounted Bluetooth terminal and four Bluetooth beacon anchor points arranged in a rectangular shape on a vehicle body; the Bluetooth beacon anchor point and the vehicle-mounted Bluetooth terminal are connected to a vehicle-mounted network. The positioning method comprises the following steps of enabling Bluetooth beacon anchor points to respectively send RSSI (ReceivedSignal Strength Indicator) outwards, collect other RSSI and send the RSSI to a user mobile equipment terminal; after the user mobile equipment terminal collects RSSI of the Bluetooth beacon anchor point, filtering RSSI data; calculating the calculation distances between the anchor points and between the anchor points and the user mobile equipment terminal, calculating a correction factor according to the actual distances between the anchor points, and correcting the calculation distances; and establishing a coordinate system, and performing positioning by using a double-triangle centroid positioning algorithm to obtain the position of the user mobile device. The system and the method have the advantages of being simple in hardware topological structure, small in required calculation datasize, high in real-time performance, small in external environment influence, accurate in positioning and the like.

A method of determining buffer insertion locations in an integrated circuit design establishes candidate locations for inserting buffers into a net, and selects buffer insertion locations from among the candidates based on slew constraints. The selection of buffer insertion locations preferably optimizes slack and buffer cost while keeping slew from any buffered node to any sink less than a required slew rate. The slew analysis computes an output slew SL(v) of a given buffer b inserted at a node v as SL(v)=RS(b)·C(v)+KS(b), where C(v) is the downstream capacitance at v, RS(b) is the slew resistance of buffer b, and KS(b) is the intrinsic slew of buffer b. The delay through a given buffer may also be computed based on signal polarity. However, the invention still preferably uses worst-case slew resistance and intrinsic slew in considering the slew constraints. If the selection of the buffer insertion locations results in no locations being selected due to slew violations, the present invention may advantageously find a partial solution by relaxing the slew constraint.

A portable image capturing electronic device includes a main body, an image capturing lens assembly and a light source assembly. An accommodating chamber is disposed inside the main body. The accommodating chamber includes a top portion and a bottom portion disposed opposite to each other. The image capturing lens assembly is disposed on the top portion and faces toward the bottom portion to capture an image corresponding to an object disposed at the bottom portion. The light source assembly includes a plurality of first light sources. The light source assembly is disposed on the top portion, and the plurality of first light sources face toward the bottom portion to provide illumination for the object and are disposed nearby the image capturing lens assembly. The present application facilitates illumination control when capturing the image, which can effectively reduce errors in image processing.

The invention discloses a fault diagnosis method based on an improved convolutional neural network, and relates to the technical field of fault diagnosis. The method includes: establishing an improvedconvolutional neural network model, wherein the improved convolutional neural network model sequentially comprises an input layer, a plurality of feature extraction layers, a newly added convolutional layer, a full connection layer and an output layer, each feature extraction layer sequentially comprises a convolution layer and a pooling layer; performing training by using the training set and the test set based on an improved convolutional neural network model to obtain a fault diagnosis model for automatic fault diagnosis. According to the method, a newly-added convolution layer is furtherarranged between a feature extraction layer and a full connection layer, the newly-added convolution layer can extract deep features of the model, the generalization ability of the model is effectively enhanced, meanwhile, the feature extraction layer is improved, the risk of over-fitting can be reduced to a certain extent, and the calculation speed is increased.

The invention relates to a continuous-energy-point Monte Carlo particle transport method based on multi-group virtual sections. According to the method, a multi-group unionized energy grid is constructed, and section data of materials and nuclides corresponding to the multi-group unionized energy grid are calculated in advance, so that people can acquire various section data needed for transport calculation by only searching the multi-group unionized energy grid one time in each transport, and calculation time is shortened greatly. The normal nuclide continuous-energy grid is of thousands or even more energy points, and the quantity of grid points in the common unionized energy grid method is up to hundreds of thousands and even millions, but the multi-group unionized energy grid is of a small quantity of grid points, and accordingly, internal storage is reduced while single search time is shortened, calculation time is saved, and loss of calculation precision is avoided.

The invention discloses an adaptive spectral focusing band selection method for a hyperspectral image. The method comprises the steps of firstly processing whole spectral domain hyperspectral originaldata of a ground object by utilizing three band selection algorithms, arranging results of the algorithms according to a sequence from large to small, and selecting out first N bands as optimal bandcombinations; and secondly assessing the optimal band combinations selected out by the three band selection algorithms by utilizing an independent component analysis (ICA) band assessment function, setting a J threshold, calculating out assessment results of the band combinations, and selecting the band combination with the maximum result as the optimal band combination. By utilizing an adaptive spectral focusing technology, automatic wavelength selection of wave bands can be realized during imaging of a spectrograph; a tunable light filtering component in an imaging control system is adaptively tuned to multiple spectral channels most favorable for detection and identification; spectral adaptive detection is realized; redundant and disorderly spectral information is deleted; the spectralimaging information utilization efficiency is improved; and the resource demand of information processing is reduced.

The invention aims at providing a sound field separating method. The method comprises the steps of A, measuring a sound pressure value on a measuring surface; B, generating a gray scale according to the sound pressure value generated by a vibrator, calculating the gray value of each point according to the position of actual sound source points, and then calculating a solid ball virtual source strength ball center coordinate and a non-solid ball virtual source strength ball center coordinate by using the gray value of each point as each weight; C, performing zero filling and expansion for the measured sound pressure value of the measuring surface to obtain the sound pressure value on an expanding surface of the measurement surface; D, building a transmission matrix between the expanding surface of the measurement surface, the sound pressure value of the measuring surface and the multi-virtual-ball equivalent source strength sound pressure to obtain a solving equation of the sound pressure on the measuring surface; E, acquiring the sound pressure values of two sound source surfaces according to the sound pressure resolving equation. With the adoption of the sound filed separating method, the defect that the virtual source strength configuration domain and the measurement surface are conformal in the wave superposition method in the prior art can be overcome; meanwhile, the calculation efficiency and precision are increased.

The invention provides a lazy interaction mode-based video tracking method. The invention aims to eliminate the defect of low computational speed or insufficient robustness of an existing video tracking algorithm. According to the method, when a target is partially obscured and illumination changes obviously, the abnormal conditions of blocks are judged; the judgment results of the blocks can be divided into three situations, wherein the first one is the departure of the blocks from a target, the second one is proportional imbalance of positive samples and negative samples, and the third one is the excessively low confidence value of the trackablility of the blocks; with the above conditions adopted, abnormal blocks can be screened out, and re-modeling and tracking are performed; and since a plurality of blocks are required to be tracked, the KCF algorithm is introduced to be adopted as a basic tracking operator to ensure the efficiency of the tracking. With the method of the invention adopted, the robustness of resampled samples can be ensured to the greatest extent, and therefore, the continuity and correctness of a tracking effect can be achieved, and at the same time, a higher calculation speed can be guaranteed.

The invention discloses a load-side energy storage optimization configuration method based on a peak-shaving effect, and the method comprises the steps: firstly configuring the typical daily load dataof an energy storage load point, and generating a candidate configuration set according to the standard deviation of load data and the mean unidirectional duration; secondly taking each configurationelement in the candidate configuration set as a boundary condition, modifying the inequality constraints for calculating the peak-shaving effect, and solving the optimal value of variance of a new load curve through mixed integer programming, wherein the decrease rate of the corresponding standard deviation relative to an original curve standard deviation is taken as the benefit score of configuration; finally calculating the cost of each candidate configuration point according to power and capacity, integrating the benefit scores and the cost, such as the ratio of the decrease ratio of the standard deviation to the cost, and selecting the optimal selection from the candidate set. The method can reduce the equipment cost of power grid energy storage configuration, can quickly and accurately obtain the optimal configuration of the load-side energy storage configuration, is high in accuracy of load-side energy storage configuration, and is high in reliability.

Efficiently simulating an Amari dynamics of a neural field (a), the Amari dynamics being specified by the equation (1) where a(x,t) is the state of the neural field (a), represented in a spatial domain (SR) using coordinates x,t, i(x,i) is a function stating the input to the neural field at time t, f[.] is a bounded monotonic transfer function having values between 0 and 1, F(x) is an interaction kernel, s specifies the time scale on which the neural field (a) changes and h is a constant specifying the global excitation or inhibition of the neural field (a). A method for simulating an Amari dynamics of a neural field (a), comprising the step of simulating an application of the transfer function (f) to the neural field (a). According to the invention, the step of simulating an application of the transfer function (f) comprises smoothing the neural field (a) by applying a smoothing operator (S).

The use of a configuration-based execution model in conjunction with a content addressable memory (CAM) architecture provides a mechanism that enables performance of a number of computing concepts, including conditional execution, (e.g., If-Then statements and while loops), function calls and recursion. If-then and while loops are implemented by using a CAM feature that emits only complete operand sets from the CAM for processing; different seed operands are generated for different conditional evaluation results, and that seed operand is matched with computed data to for an if-then branch or upon exiting a while loop. As a result, downstream operators retrieve only completed operands. Function calls and recursion are handled by using a return tag as an operand along with function parameter data into the input tag space of a function. A recursive function is split into two halves, a pre-recursive half and a post-recursive half that executes after pre-recursive calls.

The invention solves the problem that a large amount of people are injured because the prior art can not prevent and treat forecasted disasters in time, which provides a method and system for monitoring, preventing and treating geologic disasters. The system provided by the invention comprises a monitoring, prevention and treatment command center, a forecasting subsystem and a prevention and treatment subsystem, wherein the forecasting subsystem comprises a geologic disaster detection sensor; the prevention and treatment subsystem comprises a public prevention and treatment part and a household prevention and treatment part; the public prevention and treatment part comprises public roads in a residential area and / or safety detectors which are installed in an escape route; the household prevention and treatment part comprises a receiving system and a pager; the receiving system is arranged in a family and / or a residential building and used for receiving the prevention and treatment information of the monitoring, prevention and treatment command center and spreads the prevention and treatment information to the residents in the residential building; and the pager is used for making a bidirectional communication with the monitoring, prevention and treatment command center. In the invention, the occurrence of the geologic disasters can be monitored in time; the occurrence condition of the geologic disasters can be notified to the personnel in a disaster area in time; and sequential escape strategies are organized.

The invention provides a distributed transmission and distribution cooperative reactive power optimization method and system based on Thevenin equivalent parameter identification. A global optimization problem of a power transmission network and a power distribution network is decomposed into sub-problems that each master system and each slave system independently carry out reactive power optimization. For the power transmission network, each power distribution network connected with the power transmission network is simplified into a PQ load, each power distribution network only transmits a complex power value at a root node to the power transmission network, and the complex power is the sum of net load of the power distribution network and complex power loss of the power. For the distribution network, the power transmission network is equivalent to Thevenin equivalent potential and equivalent impedance. The relative independence of an original power transmission and distribution network system and data is maintained. The state of the whole power transmission network system is represented only through the two parameters of the equivalent potential and the equivalent impedance, theinformation transmitted to the distribution network is less, and the communication traffic is reduced.

The invention belongs to the field of safety execution in a public key cipher system and relates to a dot product calculation method for resisting simple power consumption attack. When software / hardware cipher equipment potentially suffering the simple power consumption attack operates the public key cipher system, the following steps are carried out: a dot P and a dot product coefficient d meeting the requirement are read in an elliptic curve point group; a binary string of the coefficient d is divided into equilong binary substrings d1 and d2; a fixed from-right-to-left binary algorithm is used to calculate a dot product pair {d1.P, d2.P}={(d1 AND (NOT d2)+d1 AND d2).P, ((NOT d1)AND d2+d<1> AND d2).P}; according to a formula d.P=(d1 II d2).P =sq<(gamma k / 2>(d1.P)+d2.P, the value of the dot product d.P is calculated through the dot product pair {d1.P, d2.P}; a functor II expresses connection; and a functor sq<(m)>(P) expresses to have m times multiplication dot operation on the dot P of the elliptic curve point group. The calculation method has strong capacity for resisting SPA attack and simultaneously has rapid calculating speed.

The invention provides an assessment method of running temperature of a GIL in a pipe rack. The method comprises the following steps that a GIL physical model is built, the initial power loss of a shell is calculated, the quantity of heat convection and heat radiation between the shell and air is calculated, and the quantity of heat convection and heat radiation between a conductor and the shell is calculated. The temperature at which the GIL stably runs is assessed and calculated through an MATLAB calculation procedure of heat characteristics of the extra-high-voltage GIL in the pipe rack byusing correlated characteristic parameters of the GIL in an initial operating condition, wherein the MATLAB calculation procedure is designed in an MATLAB environment of a Windows operating system. Bymeans of the method, the stable running temperature of the extra-high-voltage GIL in the pipe rack can be assessed and calculated under different initial operating conditions. The method is high in assessment and calculation speed, high in precision and capable of being embedded into a GIL temperature monitoring system, and an important significance is provided for improvement of the GIL heat reliability.

When providing an instrument identification technique, it is possible to improve the calculation speed and the identification accuracy while reducing a necessary memory amount. A gas meter (100) includes an ultrasonic flowmeter (104) which measures a flow rate of a gas flowing in a flow channel (102) at a predetermined time interval and a calculation unit (108) which calculates a difference value between flow rates measured by the calculation unit (108) at a predetermined time interval. According to a flow rate division table (110a) containing a plurality of difference value divisions based on the difference values which are correlated to codes indicating the respective divisions, a difference value conversion unit (112) converts the calculated difference value into a code. Furthermore, according to a set of codes obtained at a predetermined time interval, a flow rate change history generation unit (114) generates a flow rate change history as a dummy expression of a gas flow rate change.

The invention provides a design method of a modified wave cam. The design method comprises the following steps that a quarter elliptic curve is initially confirmed; the position of the horizontal coordinate of the circle center of a quarter arc is confirmed; the position of the vertical coordinate of the circle center of the quarter arc is confirmed; a quarter curve of the outline of the modifiedwave cam is initially confirmed; the quarter curve of the outline of the modified wave cam is confirmed; the curve is offset inwards; and the complete outline curve of the modified wave cam is confirmed. The modified wave cam is designed out according to the above design method. A wave generator comprises the above modified wave cam and a flexible bearing arranged on the outer edge of the modifiedwave cam. A harmonic reducer at least comprises the above wave generator, a flexible wheel, a rigid wheel and a modified wave cam. According to the modified wave cam designed through the design method and the harmonic reducer, gear tooth interference is avoided, the maximum stress and stress concentration of the flexible wheel in alternating stress changes are reduced, the tooth engagement area between the flexible wheel and the rigid wheel is added, the bearing capacity and precision of the harmonic reducer are improved, and the service life of the harmonic reducer is prolonged.

A method method is provided for extracting outer space feature information from spatial geometric data. The method comprises: an input step S10 of inputting spatial geometric data for a target region; a sampling step S20 of determining a sample by selecting an arbitrary area for the spatial geometric data input in the input step using a preset selection method; a feature extraction step S30 of acquiring feature information for a corresponding sampling plane using a convex hull method based on sampling information including sampling plane information of the spatial geometric data for a sampling plane selected in the sampling step. The sampling step and the feature extraction step are repeatedly performed in a preset manner.