51results about How to "Solve travel problems" patented technology

The invention relates to a wide motion range macro-micro dual-drive positioning platform. A lower platform substrate of the invention is provided with two parallel guide rails; an upper platform substrate is arranged on the two parallel guide rails of a lower platform through linear motion guide assembly; the upper platform substrate is processed into a micro displacement worktable supported by flexible hinges through linear cutting; a stator of a linear motion actuator is fixed on the lower platform substrate; a connecting frame of a rotor of the linear motion actuator is fixed with the upper platform substrate; a grating ruler is arranged on one side of the lower platform substrate and fixed on the lower platform substrate through a fixed mount; a reading head of the grating ruler matched with the grating ruler is fixed with the micro displacement worktable through the connecting frame. A coarse motion worktable of the invention completes wide range high speed movement and the positioning accuracy is in micrometer grade; the micro displacement worktable compensates for positioning error and swing error of the coarse motion worktable so that the positioning accuracy reaches nanometer accuracy.

The invention discloses a traffic flow detection induction method, which belongs to the technical field of intelligent traffic. The method is characterized in that on the basis of the ultrasonic and road condition video collection cooperative work, the transport network information of different urban roads is centralizedly processed through a traffic cloud information service platform, and the traffic information release and traffic induction can be carried out in real time. By combining the three advanced technologies, the traveling difficulty caused by incomplete information of the road traffic network can be effectively solved; moreover, the route planning problem for the traveling of the particular user can be solved on purpose through the road condition video inquiry and request service function of the system, the compulsory information of the traditional induction method for the user can be avoided, the consciousness for the user to initiatively anticipate in the traffic adjusting process can be enhanced, the traffic coordinate capacity of the road network can be enhanced, the traffic pressure can be alleviated, and the traffic induction purpose can be maximally realized.

The invention relates to a virtual reality technology-based real environment mapping system. The system comprises a real environment simulation server used for generating a virtual environment model with real environment parameter accurate mapping, a remote environment parameter acquisition apparatus used for acquiring real-time environment parameter information required by the virtual environment model, an information transmission and conversion device used for realizing communication between the real environment simulation server and the remote environment parameter acquisition apparatus, and transmitting the real-time environment parameter information to the real environment simulation server, and a wearable device connected with the real environment simulation server and used for generating a VR technology-based virtual environment according to the virtual environment model so as to realize interaction with a user, wherein the real-time environment parameter information includes real-time video information, real-time audio information, real-time climate information and real-time light environment parameter information. Compared with the prior art, the system has the advantages of strong sense of reality, effectively reduced mobile cost and the like.

The invention discloses an electric bicycle which comprises a frame assembly, a head handle assembly, a front wheel assembly, a rear wheel assembly, a power assembly, a braking assembly, a cushion assembly and a pedal assembly, wherein the frame assembly comprises a front supporting frame, a rear supporting frame and a lower supporting frame; the lower supporting frame comprises a first supporting frame, a second supporting frame and a folding mechanism; the rear end of the first supporting frame and the front end of the second supporting frame are movably connected through a folding mechanism; rotation of the folding mechanism drives all the frame assemblies to rotate, thus realizing folding and unfolding of the whole frame, and automatically locking the position after folding and unfolding are completed. The electric bicycle is convenient to fold and easy to operate; folding or unfolding of the whole bicycle can be completed by once operation; meanwhile, after being folded, the bicycle is more compact, small in size and light in weight, convenient to carry and draggable; the problems in traveling and storage during last several kilometers between a destination of a user and a public transport are solved, and the problem of complexity in folding and unfolding operation of the existing folding bicycle is solved.

The invention discloses a potty chair, in particular a multifunctional potty chair. The multifunctional potty chair is characterized in that a back cushion is arranged on the upper end of the back of the chair, a telescopic bracket is connected between the back cushion and the back of the chair, the right upper end of the back of the chair is provided with an umbrella holder, both sides of the middle part of the back of the chair are provided with handrails, the front end of the handrail at the left side is provided with a mobile phone support, the front end of the handrail at the right side is provided with a storage bag, the front end of the back of the chair is connected with a chair seat, the middle part of the chair seat is provided with a drawer plate, a table plate is arranged at the lower side of the handrail at the left side, the table plate and the handrails are connected by a rotary buckle, chair legs are arranged below four corners of the chair seat, the lower ends of the chair legs are connected with wheels, and pedals are arranged on the two chair legs at the front side. The potty chair has the following beneficial effects of being convenient to use, saving time and manpower, overcoming troubles on travelling and going to stool of old people with disabilities or a limited range of movement and facilitating the life of the old people.

The invention provides an opened wheel type electronic upstairs barrow which comprises a support assembly, a wheel assembly and a control assembly, wherein the support assembly forms a main body bracket of the electronic upstairs barrow; the wheel assembly comprises two opening wheels, two passive auxiliary wheels and two driven wheels; and the control assembly is supplied with power from a power supply module and comprises a lifting electric cylinder, a universal control handle, a speed change assembly box, a gyroscope, control buttons, a ranging sensor and a main controller. The invention further provides an operation method of the opened wheel type electronic upstairs barrow. By adopting the opened wheel type electronic upstairs barrow, an old person who is disabled to move conveniently or a disabled person can go out independently without obstruction, or free walking can be achieved with very small external force assistance; and in addition, the electronic upstairs barrow is capable of safely and freely going upstairs and downstairs or going over other barriers, and the outgoing problem of the old person who is disabled to move conveniently or the disabled person can be effectively solved.

The invention discloses a vehicle releasing treatment method, a vehicle releasing treatment device and a storage medium. The method comprises the following steps of performing license plate recognition on going-out vehicles in a vehicle going-out passage position; when the license plate number of a vehicle is not recognized or the license plate recognition error occurs, receiving a code scanning instruction of a vehicle user terminal; performing code scanning operation according to the code scanning instruction; obtaining id of the vehicle user; matching the payment record of toll of the vehicle charged according to the time or the mileage in accordance with the relevant vehicle going-out information of the vehicle; if the payment record of the vehicle is matched, correcting the charged license plate number in the payment record into the license plate number of the current going-out vehicle; issuing a releasing instruction; controlling equipment in the vehicle going-out passage position to release the vehicle. The license plate number is corrected through code scanning; the vehicle releasing is controlled; the technical problems that in the prior art, the vehicle cannot be normallyreleased due to the license plate recognition error, the manual participation solution is needed; the user traveling and the vehicle going-out efficiency are influenced are solved.

The invention discloses a head-mounted type controlling system based on an electroencephalogram eeg analytic technique, and relates to the technical field of thought interaction and analysis. The controlling system comprises an EEG-Z sensor, an ARM processor, a ROM, a gravity sensor, a power supply module, a cloud processor, a terminal device and an indicating device which is used for determining whether a user wears the system correctly, wherein the EEG-Z sensor, the gravity sensor and the indicating device are connected to the ARM processor respectively, the ARM processor is connected to the ROM, a wireless module is connected to the RAM processor, the wireless module is connected to the cloud processor in a wireless mode, the cloud processor is connected to the terminal device in a wireless mode, the ARM processor, the ROM and the wireless module are all integrated to a master control circuit board and are arranged in the head-mounted type shell body, and the power supply module is connected to the master control circuit board and supplies power to the EEG-Z sensor, the ARM processor, the ROM and the gravity sensor. The head-mounted type controlling system is based on technologies of eeg feedback and thought exchange, is convenient to use and carry, has strong suitability and can be accessed to any intelligent devices.

Disclosed are a multi-story masonry dwelling unit-door external elevator structure and a construction method thereof. The multi-story masonry dwelling unit-door external elevator structure comprises an original masonry structure and an external elevator structure disposed at a unit-door entrance of the original masonry structure. The external elevator structure is an elevator double-frame which is one store higher than the original masonry structure and which is composed of a newly added column base, a newly added bearing column and a newly added elevator beam. Space formed by a single frame adjacent to the original masonry structure serves as a waiting hall, space formed by the single frame on the outermost side serves an elevator shaft, an elevator car is disposed in the elevator shaft, and an elevator machine room is arranged on a story of the elevator shaft, higher than the original masonry structure. The fast and convenient vertical transportation means is added to increase functions of old buildings and improve using quality for users while the original masonry structure is not changed substantially, and the multi-story masonry dwelling unit-door external elevator structure and the construction method thereof are widely applicable to reconstruction of old buildings used for long time.

The embodiment of the invention provides a method for adding an elevator in the existing building. The method comprises the following steps: selecting an outer building wall at the scissors stair platform of the existing building as an elevator shaft mounting position, mounting an elevator shaft base at the bottom of the mounting position, erecting a steel frame structure above the elevator shaft base, and mounting an elevator car in the steel frame structure. The method does not affect the normal life of existing residents and can also realize the transportation function of the elevator.

The invention discloses an intelligent blind guide device which comprises a voice recognizing chip, a camera, a sensor, a main control chip, an upper computer, a control device and a voice synthesis chip. The sensor is connected with the main control chip through a pulse width modulation (PWM) module, an analog / digital (A / D) converter, a universal asynchronous receiver-transmitter (UART) and a serial peripheral interface (SPI). The main control chip is connected with the upper computer through a Bluetooth unit. A map platform and an artificial intelligent platform in the upper computer feed back a mobile path to the main control chip. The main control chip is connected with the control device and the voice synthesis chip. The control device drives the blind guide device. The voice synthesis chip guides visually-challenged people through a loudspeaker according to advancing information. The going-out problem of visually-challenged people is solved, the human-computer interaction of visually-challenged people is realized, the effects of obstacle avoiding and navigation positioning are realized, and the life of visually-challenged people is greatly improved.

The invention provides a method of solving the problems of traffic congestion and exhaust emission through an overpass pedestrian-vehicle separation technology. The ground level is increased by arranging an overpass on an original building ground. The artificial overpass comprises an overpass pavement and frame structural beam columns, the frame structural beam columns are located under the overpass pavement and used for supporting the overpass pavement, driveways are arranged below the overpass pavement, buildings and human activity space are arranged on the overpass pavement, the buildings are located in the human activity space, the human activity space is used for activities of urban human groups, the driveways are used for traveling of public transport vehicles, small vehicles and trucks, ducts are formed in the ceiling of the overpass pavement, vertical pipelines are laid on outer walls of the buildings, the vertical pipelines communicate with the ducts, and vehicle exhaust in the driveways can be released into upper air through the vertical pipelines and the ducts. By adoption of the method, the problems of the traffic congestion and the exhaust emission can be effectively solved.

The invention relates to a gallery-type additional elevator structure for a multi-storey dwelling and a construction method thereof. The gallery-type additional elevator structure comprises an original multi-storey dwelling gallery-type structure and first floor unit entrance doors, and further comprises a steel structure elevator shaft, wherein the elevator shaft is formed through the enclosure of section steel columns and elevator steel beams; the elevator shaft is transitionally connected with each floor of the original multi-storey dwelling gallery-type structure through adopting at least two joists; the joists are closely clung to the bottom of the gallery of the original multi-storey dwelling gallery-type structure; one end of each joist is connected with the outer wall of the multi-storey dwelling gallery-type structure through adopting a corner support, and the other end of each joist is welded with a section steel column; the upper part of each joist and a base board of the gallery are connected with a base plate through bolts; corner supports are fixedly connected with the outer wall through chemical anchor bolts, and are connected with the joists through bolts; an elevator lift car is arranged inside the elevator shaft; an elevator machine room is arranged at the top of the elevator shaft; and 2 first floor unit entrance doors are reserved on the two sides of the elevator shaft of the first floor gallery. The gallery-type additional elevator structure greatly improves the life quality of people and solves the problem that old people and the disabled are not convenient to get out.

The invention discloses an intelligent walking stick navigation system for a blind person. The intelligent walking stick navigation system comprises a walking stick main body, and further comprises aGPS positioning module which is arranged on the walking stick main body, a controller that a navigation map is saved in advance, a voice receiving module, a voice recognition module and a voice broadcasting module, wherein the GPS positioning module is used for acquiring position information of the walking stick main body in real time; the voice receiving module is used for receiving voice information from external side; the voice recognition module is used for saving a sound rays of the user (the blind person) and is used for recognizing sound and audio contents; the voice broadcasting moduleis used for broadcasting audio contents which are recognized by the voice recognition module; and the controller saves the navigation map therein in advance and is used for receiving the position information of the walking stick main body, receiving the audio contents which are recognized by the voice recognition module and broadcasting real-time route information by virtue of the voice broadcasting module in accordance with a route which is set depending on the audio contents. With the application of the navigation system, a problem of the blind person in going outside can be effectively solved.

The invention discloses an Internet, Beidou and big data based taxi taking system. The characteristics lie in that the system comprises a command center system, a public handheld App terminal and a driver handheld App terminal, wherein the command center system comprises a control computer, a database and a Beidou navigation system; the control computer is connected and communicated with the database; and data communication can be realized among the control computer, the Beidou navigation system, the public handheld App terminal and the driver handheld App terminal. According to the invention, mutual corresponding of demand and supply can be realized, so that problems of long-time taxi waiting of a user, automobile emission and driver blindness are solved; a driver is traced in real time based on the Beidou navigation system, and the driver having such phenomena as fatigue driving and order grabbing in passenger carrying cannot continue to use any services provided by the system, so that potential safety hazards are eliminated to a certain extent.

The invention discloses a blind person bracelet navigation system. The blind person bracelet navigation system is composed of a single-chip microcomputer, a GPS module, a GPRS / GSM module, a Flash memory, a microphone, a voice output module and two trigger keys. The single-chip microcomputer is connected with the GPS module, the GPRS / GSM module, the Flash memory, the microphone, the voice output module and the two trigger keys. By means of the blind person bracelet navigation system, the difficulty of traveling of a blind person can be solved, the blind person can be helped to find a correct return path, and the blind person can be helped to search for long-distance navigation through a network.

The invention discloses an assembled type combined water drainage marginal strip. The assembled type combined water drainage marginal strip is characterized in that the marginal strip is composed of a combined water drainage kerb and a combined water outlet kerb connected with a catch basin; each kerb is formed by combining a lower unit with an upper unit; each lower unit is composed of a groove, a vertical water drainage kerb body, a horizontal kerb body and a connector; each upper unit is composed of a tenon, a grating and a top cover; the kerbs are of a sectional prefabricated structure; and the multiple kerbs are assembled into the water drainage marginal strip through the connectors. The combined water drainage marginal strip can drain rainwater on the pavement in time, and the situation that as water is accumulated on city roads during a rainstorm or a continuous rainfall, traveling of residents is affected, and traffic is poor is avoided; by adoption of the combined structure of the upper units and the lower units, sundries which cause blockage can be removed quite conveniently only by lifting the top covers; and the prefabricating assembled type construction mode is adopted, and construction is quick, easy and convenient.

The invention relates to a wheelchair control technology, in particular to a multifunctional intelligent wheelchair control system and control method. The control system comprises a controller, a safety decision module, a direction control module, an alarm module and a power module; the controller comprises a main controller and an auxiliary controller; the safety decision module comprises an obstacle avoidance recognition device and a wheelchair state recognition device; the direction control module comprises a rocker and a voice recognition device; the main controller is connected with the safety decision module and the direction control module; the auxiliary controller is connected with the main controller and the voice recognition device. The safety decision module adopts ultrasonic wave and infrared combined decision making, when an obstacle is recognized, the wheelchair can avoid the obstacle emergently, the state recognition module can recognize whether the wheelchair rolls over or topples over in the advancing process, and the positioning infomration is sent to an emergency contact person through 5G positioning information in danger. The system can realize the functions of automatic obstacle avoidance, danger alarm, voice control and the like of the wheelchair, and has the advantages of high performance, simplicity in operation, high safety and the like.

The present invention relates to a tourism system platform which comprises a communication module, a packet analysis module, a monitoring module, a task execution module, a service start module, and a data access module. Through providing a shared, common, fast, convenient and safe transportation query system with a scale economy, the travel problem of people is solved, through using a database of a master-slave mode, the efficiency of reading and writing is greatly improved, and the system availability is improved.

The invention discloses a parking space level parking inertial navigation system and navigation method based on an MEMS sensor. Inertial navigation combines an inflection point correction algorithm, vehicle dynamics and BP model training optimization inertial navigation model, is applied to an underground parking lot, improves the underground navigation accuracy, gets rid of external information dependence, and solves the terminal navigation problem of the underground parking lot; the information management problem of the parking lot is solved by applying NB-IOT, and intelligent and orderly management is realized by utilizing an information management system established by a computer technology, a sensor and other equipment, so that the safety and economy of the parking lot are improved, and the parking efficiency of the parking lot is greatly improved. Parking space change prediction and preference analysis are realized by fusing big data analysis on the basis of parking space level navigation, the user travel efficiency is improved, and the travel experience is improved. Regional resource allocation is optimized, urban travel and urban traffic are solved, urban appearance is improved, urban traffic informatization development is assisted, and huge economic effects can be generated.

The invention relates to the technical field of medical nursing equipment, and discloses an auxiliary walking bracket for a rehabilitation department. The bracket comprises a walking frame lower box,wherein the inner portion of the walking frame lower box movably sleeves a moving rod, one end of the moving rod is fixedly provided with a moving block I located in the walking frame lower box, one side of the bottom end of the moving block I is fixedly connected with a connecting rod, one end of the connecting rod is fixedly connected with one side of the outer wall of a moving cover, the innerportion of the moving cover movably sleeves a bracket body, one side of the moving cover is fixedly provided with the bracket body located at one side of an inner cavity of the waling frame lower box,and the inner portion of the bracket body movably sleeves a rotating shaft. The auxiliary walking bracket for the rehabilitation department has the advantages that the arrangement of the walking frame lower box, moving rod, moving block I, connecting rod, moving cover and bracket body can achieve the height adjustment of the moving rod; it is ensured that the stable running of the moving rod is ensured after the height is adjusted, so that the purpose of adjusting the height of the waking bracket is achieved, and the practicality of the walking frame is improved.

The invention provides an emergency car taking device for a vertical circulatory stereo garage. The emergency car taking device for the vertical circulatory stereo garage mainly comprises a mechanical transmission part and an electrical control part, wherein the mechanical transmission part comprises a protective cover, a rack, a direct-current gear motor, a coupling, an electromagnetic clutch and a movable vertical circulator stereo garage outer guide track detecting device; the electrical control part comprises a direct-current power supply, a vertical circulator stereo garage control system, an electromagnetic brake and an emergency vehicle taking controller; the direct-current power supply, the vertical circulatory stereo garage control system, the direct-current gear motor, the electromagnetic clutch and the electromagnetic brake are electrically connected with an emergency car taking controller; and when a power supply system of the vertical circulatory stereo garage fails and cannot work normally, the emergency car taking device of the vertical circulator stereo garage is started, a parked car can be taken out smoothly, and then an owner can drive the car to go out.

The invention provides a public bike returning processing method and system, relates to the technical field of bike management, the method and the system are applied to public bikes. The method comprises the steps that the public bikes enter a bike locking device, the bike locking device executes a bike locking command, and the bike locking device is connected with a station controller; if the bicycle locking fails, bicycle locking failure information is sent to a background server; after receiving the bicycle locking failure information, the background server sends a forced bicycle locking command to the station controller; the station controller controls the bicycle locking device to execute the forced bicycle locking command and returns an execution result; the background server judges whether to end the order according to the execution result; if the locking action is successfully executed, the order is ended; and if the locking action fails, prompt information which suggests the user to replace the bicycle locking device is sent to the user side, so that the problem that the bicycle cannot be locked when the user uses the public bicycle and returns the bicycle due to an abnormal condition is solved.

The invention discloses a novel walking stick and matched blind track facility special for navigation of a blind person. The novel walking stick and matched blind track facility comprises a voice prompting system (1), a voice recognition system (2), a magnetic induction system (3) and a GPS positioning system (4). The voice prompting system (1) comprises a wireless headset and an information storage chip. The voice recognition system (2) comprises a core processor for processing acquired and distinguished user voice so as to obtain instructions sent by a user and making response by informationprocessing. The magnetic induction system (3) comprises a laid magnetic blind track and a magnetic module at the bottom of a walking stick special for the blind person. The GPS positioning system (4)outputs the position where the blind person is located at the moment when the blind person needs and can also make timely route planning by receiving signals of the voice recognition system. The shortcoming of blind track incontinuity is overcome, accurate and safe navigation is provided for the blind person, and the outgoing problem of the blind person is solved.

The invention discloses a vehicle release processing method, device and storage medium. The method includes: performing license plate recognition on the vehicle at the exit channel; The code scanning command of the vehicle user terminal; scan the code according to the code scanning command to obtain the id of the vehicle user; match the vehicle's time-based or mileage-based toll payment records according to the vehicle's departure-related information; If the payment record of the vehicle is matched, the paid license plate number in the payment record is corrected to the license plate of the vehicle currently dispatched, and a release instruction is issued to control the equipment at the dispatch channel to release the vehicle. The invention corrects the license plate by scanning the code, controls the release of the vehicle, and solves the current technical problem that the vehicle cannot be released normally due to the wrong identification of the license plate, and manual participation is required to solve the problem, which affects the user's travel and vehicle dispatching efficiency.

The invention provides a wearable device for reminding the travel of a special user and an application method thereof. The device comprises a device main body. The device main body is provided with a positioning module, a reminding module, a control module, a working mode selection button and a power supply module. The working mode selection button is arranged on the outer side of the device main body. The control module is used for reading azimuth data measured by the positioning module, judging whether the deviation value of the azimuth data relative to a preset travel route is larger than a preset numerical range or not. If the deviation value of the azimuth data relative to the preset travel route is larger than the preset numerical range, the control module sends a control signal to the reminding module according to the corresponding working mode to generate an alarm prompt. The power supply module is used for supplying a working power supply to the positioning module, the reminding module, the working mode selection button and the control module. According to the invention, the travel for special users is facilitated by the device, and user-friendly prompts are supplied to the special users. Therefore, the travel safety of special users is improved.

The invention belongs to the technical field of intelligent travel, and particularly relates to a mixed vehicle-hailing method for multiple vehicles. The method comprises the following steps: a user sends vehicle-hailing request information, and a system plans a travel route according to the vehicle-hailing information after receiving the vehicle-hailing request of the user, and sends the vehicle-hailing request to online-hailing vehicle terminal equipment; the system generates a predicted cost according to a route planned according to the vehicle-hailing request and prompts the user to pay, and after the user pays the cost, traffic tools related to the whole travel route provide traffic transportation services according to the route plan; after the user takes a vehicle, when the distance between a real-time position and a departure position, a transfer position, or a destination position reaches set a threshold value, the mobile terminal of the user obtains corresponding voice or / and text prompt information. A mixed vehicle-hailing system can quickly plan an overall travel road section, can realize the interaction of a user side, online-hailing vehicles, and carrier vehicles, timeliness of vehicle replacement in a transfer position through mixed-vehicle travel is achieved, the most convenient and most time-saving travel demand from a departure position to a destination position for a user is satisfied, and a most perfect and convenient travel scheme is provided for the user.

The invention discloses a traffic flow detection induction method, which belongs to the technical field of intelligent traffic. The method is characterized in that on the basis of the ultrasonic and road condition video collection cooperative work, the transport network information of different urban roads is centralizedly processed through a traffic cloud information service platform, and the traffic information release and traffic induction can be carried out in real time. By combining the three advanced technologies, the traveling difficulty caused by incomplete information of the road traffic network can be effectively solved; moreover, the route planning problem for the traveling of the particular user can be solved on purpose through the road condition video inquiry and request service function of the system, the compulsory information of the traditional induction method for the user can be avoided, the consciousness for the user to initiatively anticipate in the traffic adjusting process can be enhanced, the traffic coordinate capacity of the road network can be enhanced, the traffic pressure can be alleviated, and the traffic induction purpose can be maximally realized.

The invention discloses a series-connected piezoelectricity-actuated nano-positioning platform. The nano-positioning platform comprises a platform body, an XY-directional motion platform and piezoelectric ceramic actuators, wherein the platform body is mounted in a base; the XY-directional motion platform is mounted on the platform body as well as in the base respectively through an X-directionalflexure hinge and a Y-directional flexure hinge; the X-directional flexure hinge and the Y-directional flexure hinge are connected to the platform body respectively through an X-directional spring assembly and a Y-directional spring assembly; an X-directional sensor for measuring the X-directional displacement of the XY-directional motion platform and a Y-directional sensor for measuring the Y-directional displacement of the XY-directional motion platform are respectively mounted in the XY-directional motion platform; displacement data read by the X-directional sensor and displacement data read by the Y-directional sensor are used to cooperatively complete the detection and feedback of the two-degree-of-freedom motion of the nano-positioning platform; and the piezoelectric ceramic actuators are inlaid in the X-directional flexure hinge and the Y-directional flexure hinge respectively and used for actuating the two-dimensional motion of the XY-directional moving platform. The nano-positioning platform has the following beneficial effects: the coupled displacement of the series-connected flexure hinges is small, the yaw is small, the linearity is good and the positioning accuracy ishigh.