547results about How to "Realize data collection" patented technology

The invention discloses an ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and autonomous flight control system for an unmanned helicopter. The system comprises a PC (personal computer), an integrated navigation subsystem, a power supply module and controllers, wherein the integrated navigation subsystem comprises a sensor group; the sensor group comprises a GPS (global positioning system), a gyroscope, an accelerometer, a magnetoresistive sensor, a barometric altimeter and a sonar altimeter; the controllers include a main controller and a steering engine controller; the main controller adopts an ARM microprocessor to operate the integrated navigation algorithm and flight control PID (proportion integration differentiation) algorithm and simultaneously completes data acquisition of the GPS, the barometric altimeter and the sonar altimeter; and the steering engine controller adopts an FPGA to realize data acquisition of the gyroscope, the accelerometer and the magnetoresistive sensor and transfers the data to the main controller via a concurrent bus to carry out attitude calculation and control operation on the unmanned helicopter. With the unmanned helicopter as a carrier, the hardware environment of a whole set of flight control system integrating study of the aircraft navigation and control theory problem, data acquisition, information transfer and embedded control is set up.

The invention relates to a household garbage classified collection and intelligent supervision method and system and belongs to the technical field of intelligent environmental protection equipment. According to the technical scheme, a data communication and information management system comprises a central intelligent cloud platform, household classified garbage dumping reservation platforms, management platforms, an unmanned bookable garbage collection truck and a special classified garbage transport truck. The management platforms comprise a regional management platform, a sanitation station management platform, a classified garbage management platform, a classified garbage treatment plant management platform and a government management platform. By means of the household garbage classified collection and intelligent supervision method and system, data collection and sharing among the links including classification, feeding, collection, transport, statistics, supervision and the like of household garbage are realized, the manpower cost for regional garbage classified collection is lowered, fixed regional garbage collection points, garbage transfer stations and pollution to the surrounding environment are eliminated, the intermediate link of garbage clearance and the basic construction investment are reduced, the contradiction that early-period classification information and later-period transport processing information of household garbage are not consistent is solved, and the utilization rate of renewable resources is increased.

The invention provides a network application program off line data acquisition method, which comprises: A. the server transfers the resources needed by the network application program operation under off line mode to the client end; B. the client end creates a data base according to the received resources; C. accessing the network application program under off line mode through the client end browser; D. when the network application program returns to on line mode, synchronizing the data base on the client end the data base of the network application program on the server. The invention can realize data acquisition under the network application program off line mode without installing any extra off line tool software.

The invention provides a data collection system based on a Zookeeper cluster. The system comprises a message queue establishing unit and the Zookeeper cluster. The message queue establishing unit is used for establishing different message queues according to different data sources. The Zookeeper cluster is used for monitoring the states of a plurality of collectors, and enabling any message datum in the message queues to be collected by only one collector, wherein each message queue corresponds to a persistence node of the Zookeeper cluster. Each collector obtains message data under the coordination of the Zookeeper cluster, and corresponds to the temporary node of the persistence node. Correspondingly, the invention further provides a data collection method based on the Zookeeper cluster. According to the technical scheme, different collection modules can be arranged according to different data sources, different storage strategies are set according to different storage requirements, and diversity of data collection and storage is achieved.

The invention discloses a method and a device achieving underground mine positioning and navigation, and relates to the fields of wireless communication, positioning and distance measurement. The method and the device can achieve high-accuracy positioning and navigation of underground mine personnel and moving equipment. Wireless communication field intensity information is utilized for judging the moving direction of a positioned target, the distance between the positioned target and an intelligent wireless positioning communication base station is measured and calculated through double integral of time by an acceleration sensor, after differentiation is conducted by a close-distance radio frequency identification card, a wireless positioning communication unit receives a coordinate value sent by the intelligent wireless positioning communication base station, accumulative errors of the acceleration sensor are corrected, high-accuracy positioning is achieved, and the device achieving the method is an intelligent helmet. The intelligent helmet integrates a wireless positioning communication unit, a low-power-consumption light emitting diode (LED) lamp group, an embedded type micro camera, an OLED display screen and a headset, and by means of interaction of the intelligent positioning locating communication base station and looped network equipment and a ground monitoring center, functions of video capture and transmission, double-direction voice communication, positioning, navigation and the like are achieved.

The invention provides an unmanned plane plant protection system, including a user terminal, a cloud server, an unmanned plane ground work station, a reconnaissance unmanned plane and a plant protection unmanned plane. The reconnaissance unmanned plane collects crop growth and insect disease information and sends the information to the unmanned plane ground work station through a wireless network. The unmanned plane ground work station uploads the collected information to the cloud server. The cloud server sends processed data to the user terminal. The user terminal sends a corresponding instruction. The unmanned plane ground work station dispatches the plant protection unmanned plane to execute the corresponding instruction according to the corresponding instruction. The unmanned plane plant protection system integrates the unmanned plane ground work station, the reconnaissance unmanned plane, the plant protection unmanned plane and cloud data service into one body, and thus data collection and analysis and corresponding smart operation in the plant protection process can be achieved, the plant protection efficiency is improved, and crop insect diseases can be reduced. The invention also provides an unmanned plant protection method, which can improve the plant protection efficiency.

The invention discloses a multi-core parallel simulation engine system supporting joint operations. The system solves the problem that the real-time performance of a traditional joint operation system is easily influenced when step length is used to forward logic time. The system includes a model scheduling management module, a thread management module, an external interface management module and a high-level architecture (HLA) management module. According to the system, target nodes are assigned for simulation entities to enable total computation amounts of models on each node to be equivalent; then through the model scheduling management module, a scheduling schedule of each node is generated based on a principle of load balancing, the simulation step length is assigned for the models, and during a simulation process, the scheduling schedule is adjusted and the simulation step length of the destroyed entities and generated new entities is adjusted. The system can autonomously divide the scheduling schedule according to operating cycles of the models and the system step length, allow the entities to use the different physical models or the behavior models according to needs for simulation, and support real-time scheduling of large-scale simulation and the high-fidelity operation models.

The invention discloses an intelligent unmanned aerial vehicle inspection system and method of a tunnel. On the basis of combination of the unmanned aerial vehicle technology and the image processing technology, the unmanned aerial vehicle is applied to tunnel inspection work. According to the invention, various sensors are added to an unmanned aerial vehicle platform; with data collected by a monocular black-and-white camera and an inertial measurement unit (IMU), precise positioning and navigation of the unmanned aerial vehicle in the tunnel are realized by means of multi-sensor data fusion according to a VINS-Mono positioning mapping algorithm; a 2D laser radar collects point cloud data to realize estimation of a tunnel wall direction and UAV obstacle avoidance; a high-resolution camera collects a tunnel image, a motion trajectory of the camera is restored based on an SfM algorithm, and a three-dimensional model of the tunnel is generated by combining a high-definition image, thereby realizing the detailed tunnel inspection task. Compared with the traditional tunnel inspection way relying on the personnel and vehicles, the intelligent unmanned aerial vehicle inspection system and method have advantages of high automation degree and high work efficiency and can be widely applied to tunnel inspection work.

The invention discloses an intelligent classification garbage can. The intelligent classification garbage can comprises a can body, an infrared detector, a micro camera, a single-chip microcomputer and a cloud server; the can body is provided with a garbage feeding port; a garbage allocating device and sub can boxes are arranged in the can body; the garbage allocating device comprises a main motor, a first baffle plate, a second motor and an extension baffle plate; the infrared detector is arranged in the garbage feeding port, and is used for scanning the garbage feeding port in real time; themicro camera shoots garbage fed in the can body; the cloud server identifies the garbage according to image files, and returns the identifying result to the single-chip microcomputer; and an allocating control module controls cooperative work of the main motor and the second motor according to the feedback result. The intelligent classification garbage can achieves multiple functions of automaticclassification of the garbage, prevention of the overflowing phenomenon of the garbage can, prevention of the influence on the work of a system due to power failure, automatic fire extinguishing in the can body, fault self-inspection, environmental-protection checking, green self-service and data acquisition.

The invention provides an integrated collection device for agricultural information. The integrated collection device for the agricultural information comprises a sensor, collectors, concentrators and a background server, wherein the agricultural information is collected by the collectors arranged in multiple geographic positions; moreover, the collected agricultural information is sent to the concentrators through a wireless network; after concentrating the agricultural information, the concentrators upload the agricultural information to the background server through the network; and the background server releases the agricultural information to the network for sharing. With the adoption of the integrated collection device for the agricultural information, a high-efficiency low-cost agricultural information collection tool is provided for the development of fine agriculture; and therefore, the requirements for the fine agriculture on location, rapidness, precision and continuous measurement are met, the diverse fusion of agricultural production environment information and agricultural production process information is realized and the finer and more accurate agricultural information data analysis is guaranteed.

The invention discloses a remote data acquisition and analysis system for a numerically-controlled machine tool. The remote data acquisition and analysis system comprises an equipment layer, a data acquisition layer, a server layer and a client layer, wherein the equipment layer comprises the numerically-controlled machine tool; the data acquisition layer comprises a data acquisition device, and the data acquisition device is used for acquiring data of the numerically-controlled machine tool; the server layer is communicated with the data acquisition layer and is used for receiving and processing data transmitted by the data acquisition layer and storing the processed data in a database; the client layer interacts with the server layer to feed processing results of the server layer back toa user.

The invention relates to a steel pipe welding data collecting and processing system based on a wireless sensor network, comprising a welding information collecting subsystem, a flaw detection management subsystem, an exhaust pipe subsystem and a thermal treatment information collecting subsystem based on the wireless sensor network. The whole system tracks and identifies the steel pipe to be welded by adopting a radio frequency identification (RFID) technique. By overall quality monitoring as well as data collecting and processing in the welding process of the steel pipe, the invention eliminates uncertainty of quality detection of the steel pipe welding line, integrates the processing information integrally and finally realizes real-time and overall management of the welding quality of the steel pipe.

The invention discloses a interconnection wireless network system comprising a central server, a WiFi wireless interconnection control station, a far-end node and a WiFi terminal, wherein, the WiFi wireless interconnection control station is used for providing access connection of the WiFi terminal and distributing the network address of the WiFi terminal accessed in a WiFi LAN and route forwarding network data; the WiFi wireless interconnection control station is wirelessly communicated with the WiFi terminal via optical fiber and the far-end node and forms the WiFi LAN with the WiFi terminal by taking the WiFi wireless interconnection control station as the center; the WiFi terminal comprises a WiFi device server but is not limited to the WiFi device server, and the WiFi device server is connected with an industrial machine device via the standard industrial data interface. The invention adopts an optical fiber radio distribution system to realize low cost, long distance and large-range distribution of WiFi radio-frequency signal and can be applied to places such as factories, office buildings and the like with large range, various devices and complex control.

The invention relates to an open API full-life-cycle management method based on micro-service. According to the method, an open API full-life-cycle management system composed of an API gateway, an APIauthorization authentication center, an API registration center and an API monitoring center is established on the basis of a micro-service technology in combination with INDICS industrial Internet platform service requirements; and realizing flexible calling of API interface services through full-life-cycle management of APIs, wherein the full-life-cycle management of APIs comprises creation, release, test and offline of API interfaces. The method is characterized in that APIs of different systems can be opened and managed in a unified mode; multi-tenant isolation of data is supported; a perfect authority management and control method is achieved; and safe, reliable and rich-function API interface services are provided for developers.

The invention relates to a printing plate quality detection system and method. The system comprises a detection platform, an electric device, an image acquisition device and an image processing device, wherein the image acquisition device comprises an annular optical imaging light source, an area-array camera and a laser displacement sensor; the annular optical imaging light source comprises an annular frame body, a heat radiation sheet arranged on the outer side wall of the annular frame body and a plurality of LED (Light Emitting Diode) light sources arranged on the inner wall of the annular frame body; the annular optical imaging light source is used for uniformly illuminating in a focal plane of the area-array camera; the area-array camera is used for automatically scanning a detection object which is horizontally arranged on the detection platform under the irradiation of the annular optical imaging light source to acquire a high-quality image in the horizontal plane and carry out image pattern detection; the area-array camera or the laser displacement sensor is used for acquiring the depth of the detection object in the vertical direction so as to carry out depth measurement; the image processing device is used for carrying out data processing and analysis on image information to finish the quality detection. The system and the method have the advantages of high detection precision, high detection speed and high reliability.

The invention discloses an on-line monitoring allowable high voltage reactive power compensation system and method. The system comprises a background server, at least one electric power comprehensive measuring and controlling instrument and a wireless communication unit, the background server is connected with the electric power comprehensive measuring and controlling instrument through the wireless communication unit, and the background server acquires measured data transmitted by the electric power comprehensive measuring and controlling instrument. According to the system and the method, a wireless communication technology is applied to a 10 / 6KV power distribution network reactive power compensation device, devices distributed across the country can be real-timely monitored, and data of the devices can be acquired; and the reactive power flow analysis is applied to the 10 / 6KV power distribution network reactive power compensation device, the problems of frequently switching capacitors and upwards and inversely feeding reactive power in terms of existing compensation devices are radically solved, the reactive current can be compensated on site in the system, and the optimization of the reactive power flow is guaranteed.

The invention discloses an ankle joint device of a lower limb rehabilitation training robot, which is suitable for a serial structure and belongs to the field of rehabilitation medical equipment. The ankle joint device realizes triple safety protection, namely control of the speed and motion position range of a motor 13 by software and limit of the safety limit motion range of an ankle joint motor 13 by a travel switch 13 and a mechanical spacer pin 1. The ankle joint motor 13 is arranged in a foot box 11 and a foot box 19; a synchronous belt pulley 3 and a synchronous belt pulley 15 transfer motion; a synchronous belt tensioning mechanism 16 is arranged; an ankle joint bracket 14 is fixed on an internal ankle joint protective plate 4 and an external ankle joint protective plate 18; a foot pedal 19 can rotate relatively to a hinge pin at a position B of the ankle joint bracket 14; data measurement of positive and negative torques of feet is realized by a pressure sensor 7 and a pressure sensor 9; and a sensor sleeve 6, a sensor sleeve 8 and a sensor sleeve 10 can pre-fasten the upper sensor 7 and the lower sensor 9 respectively.

The invention discloses a low power consumption wide area network technology and Mesh fusion-based ubiquitous access method and an application system. 4G network signals in an outdoor area or an indoor area where terminal devices are deployed densely are poor. To solve the above problem, the invention provides an access method based on both the low power consumption wide area network technology and the Mesh technology. Multiple lower power consumption wide area network base stations make up a wireless Mesh network, and each low power consumption wide area network base station serves as a Mesh node, so as to realize a route forwarding function. The low power consumption wide area network base station is equipped with a 4G module, so that the 4G network can report the data to a business server through route forwarding as long as any base station is connected with the internet. The lower power consumption wide area network technology and the stability and reliability of the Mesh network are fully used, terminal access and Mesh network backhaul are realized through the low power consumption wide area network technology, and the data can be transmitted and reported smoothly even if the 4G signal of a base station is poor.

A real-time monitoring system of faults of overhead lines of a distribution network comprises a fault alarm of overhead lines arranged at the overhead lines of the distribution network, a wireless repeater which is arranged at an overhead line rod of the distribution network, a background monitoring system and a wireless transceiver which is connected between the wireless repeater and the background monitoring system. The fault alarm of the overhead lines transfers the detected real-time abnormal signals on the overhead lines and address information of the abnormal signals to the wireless repeater, the wireless repeater gradually transfers the information to the wireless transceiver through a relay link which is constituted by the wireless repeater, and the wireless transceiver further transfers the information to the background monitoring system for analysis, judgment and processing. The fault alarm of the overhead lines comprises a sensor, a signal acquisition unit, a microprocessor, a wireless RF module, a magnetoelectric conversion circuit, a power control module and a power supply. The real-time monitoring system can accurately and rapidly give out the faults, the abnormal information and occurrence addresses thereof on the overhead lines.

The invention discloses a multi-energy information interaction device applicable to a comprehensive energy source system. The multi-energy information interaction device supports multiple communication modes and communication protocols and can perform data acquisition and corresponding control on various distributed energy sources, intelligent instruments and moving ring equipment, and the interaction device has storage and localization coordination control functions and can analyze operating states and trends of energy source equipment as well as energy consumption information of a combined area and optimize a system operation mode. Meanwhile, the interaction device can upload the information to a superior master station, support and receive various strategies and instructions sent by thesuperior master station, generate a corresponding control sequence according to the strategies and instructions and realize automatic control on the distributed energy sources. The multi-energy information interaction device disclosed by the invention can realize data acquisition and interaction on multiple energy sources in the comprehensive energy source system, realize local coordination control on a multi-energy system, support and receive a master station download control strategy and perform control on related equipment, and equipment quantity and complexity of an access system are reduced, so that system debugging efficiency is improved, and support is provided for coordinated and optimized operation of the comprehensive energy source system.

The invention provides a train traction control system comprising a master control unit, an auxiliary control unit, a storage unit, a data acquisition control unit and a power drive unit. The master control unit comprises a master processor and a field programmable gate array; the auxiliary control unit comprises a floating point digital signal processor; the storage unit is connected with the master processor; the master processor is connected with the field programmable gate array; the data acquisition control unit is connected with the field programmable gate array; the field programmable gate array is connected with the floating point digital signal processor; and the power drive unit is connected with the field programmable gate array. The train traction control system provided by the invention can finish the control works of the train traction system, can improve data acquisition accuracy, data processing accuracy and traction control accuracy, and also can improve the instantaneity of performance control of a traction motor.

The invention relates to a data acquisition and distribution system of a cross-platform heterogeneous database, comprising a data configuration reading module, a periodic structure conversion module and a data generation module, wherein the data configuration reading module, the periodic structure conversion module and the data generation module are used for successive transmission in sequence; the periodic structure conversion module is composed of an original data source extracting module, a data structure mapping module and a target data source returning module which form a cycle. The data acquisition and distribution system of a cross-platform heterogeneous database, which is provided by the invention, can be used for realizing the upgrading treatment for the original database; meanwhile, the data sources of different types can be migrated; each data silo is migrated to a central database; and the data is integrated by the system.

The invention relates to a working method of a multi-energy information collection control system. The system comprises a master station layer, a communication channel layer and a collection equipment layer, the master station layer comprises an electricity consumption information collection system and a tap water and fuel gas business application system connected with the same, the communication channel layer serves as a channel mode for communication among equipment, and the collection equipment layer serves as bottom equipment for collection and comprise a concentrator, a collector, an intelligent ammeter, an interface converter, an image recognition water meter, a remote water meter, an image recognition fuel gas meter and a remote fuel gas meter. The multi-energy information collection control system integrates three systems for electricity, water and gas through archival information synchronization, meter reading time synchronization, meter reading planning, collected data receiving, data auditing and correcting, sent data sharing and data accounting integration.

The present invention discloses an ocean environment noise measurement device based on a wave glider. A wave glider is taken as a measuring platform to carry ocean environment parameters and noise measurement device so as to achieve fixed-point measurement and moving-type measurement. A collection control system is arranged on the wave glider, and comprises an embedded controller, a navigation device, a positioning device, a satellite communication device, a direction regulation device, a storage card, a synchronous interface, a measurement sensor, a power supply management circuit, a solar power system and a ZigBee module. Ocean environment parameters such as a wind speed, a wind direction, a wave height, a wave direction, rainfall, a flow rate and a flow direction are synchronously measured while measurement of the ocean environment noise, passing ship information is obtained through AIS to lay the foundation of analysis of influences of wind, wave, flow, rainfall and ships on measurement of ocean acoustic signals to facilitate deep research of a formation mechanism and a sound intensity fluctuation rule of the ocean environment noise so as to provide a reliable basis for improving the water sound communication stability and detection and identification capacity of the water sound detection device.

The invention discloses a system for GPS mobile law enforcement monitoring of land resources, which includes a GPS handheld integrated machine and a background computer. The GPS handheld integrated machine is connected to the background computer through a USB interface, and a mobile law enforcement monitoring data processing module is stored in the background computer; the handheld The all-in-one machine includes an operating system platform, a camera and a GPS receiver. The operating system platform is provided with a memory, which stores a mobile law enforcement monitoring module. The method of land resources using GPS mobile law enforcement monitoring includes satellite law enforcement and dynamic inspection. The present invention adopts the 3S cutting-edge technology combined with GIS, GPS and RS to optimize the mobile law enforcement and supervision process, improve the efficiency and quality of law enforcement, combine the latest cutting-edge technology, make the law enforcement process scientific and intuitive, and realize the paperless and electronic process of land and resources law enforcement and supervision. Simplified and intelligent, greatly improving the work efficiency of field inspections, reducing labor intensity and professional level requirements for users.

The invention belongs to technical field of microscan, and discloses a double beam light sheet lighting microscan imaging method. The method comprises the steps: dividing scanning laser output by an identical light source into first directional scanning laser and second directional scanning laser; ensuring that the two paths of scanning laser are vertically projected onto a sample to motivate sample fluorescent light, and the projection directions are opposite; detecting and collecting fluorescent light motivated by the sample and performing exposure imaging; shifting the sample, and repeating the process till a complete sample image is obtained through scanning, wherein the two paths of scanning laser are synchronous, a light sheet laser sample is produced, and the projection direction is in the x-axis direction; the scanning direction is in the y-axis direction; the fluorescent light collected direction of the sample is in the z-axis direction; scanning initial positions of the two paths of scanning laser are in the center line of a scanning array plane; scanning directions of the two paths of scanning laser are opposite. The method performs light sheet lighting imaging on the transparent sample through double beam scanning laser, so as to obtain higher imaging speed, and enhances the imaging quality through image frequency domain weighted superposition.

The invention relates to a remote monitoring system and method of a drone based on the NB-IoT. The system comprises a ground control center, a drone and a remote device. The drone comprises a drone body and a first NB-IoT terminal module. The drone body is connected with the first NB-IoT terminal module through a serial port so as to carry out data transmission. The remote device comprises a second NB-IoT terminal module communicating with the first NB-IoT terminal module, a sensor and an executer. According to the invention, by organically combining the drone and the NB-IoT technology, remote monitoring of states of the drone and monitoring of the remote device are achieved.

The invention discloses a terminal collecting device used for a data collecting and monitoring control system. The device comprises a wireless data transmitting unit, a data collecting unit, a central processing unit and an electrical source controlling module. An electrical source output end of an electrical source controlling unit is connected with the data collecting unit and the wireless data transmitting unit; a data input end of the central processing unit is connected with the output end of the wireless data transmitting unit; a data output end of the central processing unit is connected with the wireless data transmitting unit; the central processing unit emits different control signals to the electrical source controlling unit; the electrical source controlling unit turns on / off power for the data collecting unit and the wireless data transmitting unit according to the different control signals. The terminal colleting device of the invention turns on / off power for the data collecting unit and the wireless data transmitting unit by the electrical source controlling unit according to the different control signals, thereby effectively saving power. A battery pack can be adopted as the electrical source to electrify the terminal collecting device, so as to realize data collection of a monitoring point at any position.

The invention provides an indoor unmanned aerial vehicle navigation method and an unmanned aerial vehicle. The navigation method comprises the following steps: adopting a three-axis gyroscope to measure the angular velocity of an unmanned aerial vehicle, and adopting a plurality of sets of ultrasonic ranging sensors to measure ultrasonic signals, and temperature sensors to measure indoor temperature data; performing temperature compensation on the measured ultrasonic signals according to the indoor temperature data; respectively calculating the distances between the unmanned aerial vehicle and the indoor four walls, the ceiling and the floor by use of the ultrasonic signals subjected to temperature compensation, and reversely locating the unmanned aerial vehicle according to the distances between the unmanned aerial vehicle and the indoor four walls, the ceiling and the floor; calculating the attitude angle of the unmanned aerial vehicle according to the angular velocity of the unmanned aerial vehicle. According to the navigation method, fewer sensors are adopted to acquire indoor and unmanned aerial vehicle correlation data, so that the manufacturing cost is relatively low, and the indoor unmanned aerial vehicle navigation method and the unmanned aerial vehicle are suitable for popularization.

The invention discloses a private cloud searching system and an implement method thereof. The system comprises a browser, a webpage structure analysis and storage module and a data filtering and screening module; and the browser comprises a manual webpage browsing module and / or a machine webpage browsing module. The implement method of the private cloud searching system comprising the steps of: defining a searching range and setting searching condition by a user through the webpage structure analysis and storage module, thereby changing complicated advance-phase preparation for calculation to be simple in operation; picking up wedpages meeting requirements by the machine webpage browsing module; and segmenting the structure of webpage codes and searching a plurality of keywords by the data filtering and screening module, thereby realizing judgment, filtering and screening of semantic chunks, and then storing into a database to realize aggregation of similar contents of different websites. By applying the system and method provided by the invention in existing browsers, the targeted search with individuation can be achieved, and the search accuracy and the search efficiency are enhanced.