83results about How to "Strong shape adaptability" patented technology

A method for modeling an implant to be applied to a defect of a bone comprises the steps of obtaining a plurality of tomographic image data of the bone based on measurement data by MRI, producing three-dimensional image data of the bone based on the plurality of tomographic image data, and estimating a shape of a missing born that was previously present or should have been present in the defect of the bone to obtain three-dimensional data of the implant. The estimating step comprises the steps of estimating a provisional shape of the implant which has a contour conformable with the shape of a contour of periphery of the side walls of the defect at the distal surface of the bone and has a predetermined thickness; and deleting data of portions of the provisional shape of the implant that overlap the bone from the data of the provisional shape of the implant so that the three-dimensional data of the implant has an outer peripheral shape that is conformable with the shape of the side walls of the defect.

Disclosed is a magnetic-absorption wall-creeping robot with a self-adaptive capability to curved face, which belongs to the art of robot. Said robot comprises a wheeled shifter and a plural of permanent-magnet absorption devices, the wheeled shifter containing an undercarriage, a drive gear, a traction wheel and an auxiliary balancing wheel; one end of the permanent-magnet absorption device being equipped with the magnetic conduction wall surface by auxiliary balancing wheel, and the other end equipped with the undercarriage or other permanent-magnet absorption device by curved face self-adaptive device with rotational freedom degree of among one to three; the traction wheel being laid out symmetrically and driven by differential drive, and the differential of the traction wheel realizing the deflecting on the magnetic conduction wall surface. The wall-creeping robot having a strong loading power, a flexible motility and a super self-adaptive capability to curved face, has a perfect prospect.

The invention provides a 3D printing mould-free injection forming method through metal sizing agents. According to the method, a 3D printing technology and an injection forming technology are combined, an injection forming process is utilized for evenly mixing metal powder and organic binding agents to form the metal sizing agents, the sizing agents are adopted as the raw materials of 3D printing, layered printing is carried out through 3D printing equipment according to a data model, layer-by-layer accumulation is carried out to obtain a metal blank, and a metal part product in a complex shape is obtained through degreasing and sintering. The method can be used for manufacturing a part including a sealed cavity, a complex inner cavity and the like, the part cannot be manufactured through a traditional injection forming mode, the metal blank is directly formed through the 3D printing technology, a mould is not needed, the cost of single part and small scale production is low, requirements for powder materials are low, process reliability is high, repeatability is high, efficiency is high, and the industrialization of manufacturing the small thin-wall metal part in the complex shape through the 3D printing technology is easy to achieve.

An implant designing method to be applied to a body of bone which has a bone deficient portion, wherein the bone being substantially symmetric with respect to a plane of symmetry, includes generating three-dimensional data of the bone based on a plurality of pieces of tomographic data of the bone, and estimating a shape of a bone that is to exist at the bone deficient portion using part of the three-dimensional data corresponding to a symmetrical part of the bone deficient portion.

The invention relates to an air power collecting and discharging type precision seed sowing device, which is characterized by comprising a shell, a sealing cover plate, a seed sowing roller, a pressure relief wheel, a seed bed screen, a seed cleaning shifting finger, a seed guiding pipe, an impurity collecting plate and a seed stopping plate, wherein the shell is connected with the sealing cover plate by virtue of bolts, the seed sowing roller is arranged in the shell to form an operation air chamber, an air supply chamber and a seed chamber, the seed chamber is internally provided with an air supply pipe, the seed bed screen is arranged at a critical position of the air supply chamber and the operation air chamber, and the air supply chamber provides air flow for the operation air chamber by virtue of the seed bed screen and the air supply pipe; the seed cleaning shifting finger is arranged in the operation air chamber, is close to the roller in a gap and is in an L shape, a shorter side of the seed cleaning shifting finger is in a right trapezoid shape, and relative position between a bevelled edge of the trapezoid and a seed attaching hole can be adjusted by virtue of a seed cleaning shaft fixedly connected with the shorter side; the pressure relief wheel is arranged inside the seed sowing roller and is close to the interior of the roller by virtue of a tension spring; and the inlet of the seed guiding pipe is close to the roller in the gap and is dead against a contact point of the pressure relief wheel and the roller. The precision seed sowing device realizes centralized precision seed sowing, seed attaching pressure difference and a seed sending air flow are provided by virtue of a positive pressure system, a seed layer is disturbed by utilizing the air flow, and seed filling probability is improved. The precision seed sowing device is applicable to precision seed sowing of large-row-spacing crops such as corn and soybean.

The invention relates to a shape-preserving foldable wing suitable for the occasions with the requirements of changing the pneumatic area of aircraft wings and saving the parking space. The foldable wing is composed of an inner wing section, an outer wing section and a shape-preserving rotation body. According to the layout design, the pneumatic continuity of the shape of the wing is effectively maintained in the folding process, and enough supporting rigidity can be provided. Thus, the shape-preserving foldable wing can meet the folding requirement when aircrafts are parked on the ground and can be folded by a specific angle according to the flight control requirements in the flying process.

A flexible stretchable single-electrode triboelectric nanogenerator and a manufacturing method thereof belong to the field of nanometer new energy. The pleated triboelectric nanogenerator is composedof three parts including a nanofiber friction material layer, a flexible electrode layer and an elastomer support layer which are sequentially stacked. The electrospinning technique is used to cover the nanofiber layer on a pre-stretched substrate on which flexible electrodes are deposited. By releasing the pre-tensile stress and a short heat treatment process, the pleated triboelectric nanogenerator having a stable output can be prepared. The nano-generator involves a simple operation process, and the prepared nano-generator has excellent tensile properties, and provides more options for human wearable self-powered devices.

The invention provides a flexible end effector for a cone picking robot. The flexible end effector comprises a frame, wherein the frame is provided with a fruit and vegetable gripping paw mechanism which comprises a pedestal and fingers; each finger comprises a fixed lever and a connecting rod; the fixed lever is fixed on the pedestal; the connecting rod is hinged with the fixed lever; the connecting rod is connected with a rubber tube which drives the connecting rod to oscillate relatively to the fixed lever; the top end of the rubber tube is sealed, and the bottom end of the rubber tube is connected with an air inflation mechanism; and the pedestal is provided with at least three fingers. The flexible end effector has the advantages of good adaptability to the sizes and shapes of fruits and capability of gripping fruits and vegetables and separating fruits and vegetables from fruit branches.

The invention relates to a friction nanometer generator, a preparation method thereof and an application thereof. The upper electrode and the lower electrode of the friction nanometer generator are made of conductive flexible materials, and a first insulating polymer, a first flexible material and a second insulating polymer, a second flexible material and a third insulating polymer are sequentially stacked up to form a film. According to the invention, the friction nanometer generator disclosed by the invention can be attached to an object with a small curvature radius and can reduce the requirements in the longitudinal space or in the transverse space. The limitation of a "heavy" substrate of the generator is avoided. The vertical and independent friction nanometer generator of the invention is ultra-thin in structure and light in weight. In addition, the friction nanometer generator can be attached to objects with complex shapes. Meanwhile, the energy collecting function and the sensing function are achieved. The damage of equipment is avoided. The generator is simple in structure, low in manufacturing cost and capable of being massively produced. The requirements of the currentmarket are met. The invention belongs to the technical field of micro-nano energy power generation.

The invention relates to the technical field of robots, and discloses a multi-finger flexible mechanical hand based on volute spiral springs. The multi-finger flexible mechanical hand based on the volute spiral springs comprises a driving device and flexible fingers, wherein the driving device comprises a motor, a transmission shaft fixedly connected to the output end of the motor, and winches rotationally sleeving the transmission shaft; the volute spiral springs are arranged in the winches, the centers of the volute spiral springs are fixedly arranged on the transmission shaft, and the tailends of the volute spiral springs are fixedly connected with the winches; and each flexible finger comprises a flexible working column and ropes driving the flexible working column to bend, one ends of the ropes are fixedly arranged at the tail end of the flexible working column, and the other ends of the ropes are fixedly arranged on the winches. The multi-finger flexible mechanical hand based onthe volute spiral springs is of a continuous robot structure, has good self-adaptive capacity and can grab irregular objects.

The invention discloses a novel heat exchanger core and a distribution structure, and belongs to the field of the chemical industry, smelting and energy power machinery. A heat exchanger provided by the invention comprises the heat exchanger core structure and the distribution structure. The core structure comprises two basic structural forms and reinforced variant forms thereof; the core structure formed by triangular waved plates and independent thin flat plates and the core structure formed by rectangular waved plates are adopted as the basic structural forms; according to the reinforced variant forms, wall surface ripples are added, and straight flow channels are changed to S-shaped flow channels. The heat exchanger composed of the core structure has the characteristics that cold-hot fluid heat exchange surfaces are wrapped mutually, and the heat exchange area of the unit volume is larger. A center-parting plate form is adopted by the distribution structure provided by the invention, so that the distribution structure has the characteristics that processing is simple, and work is reliable. Meanwhile, three layout schemes for cold-hot flow inlet-outlet channels are provided by the invention according to the distribution structure, and good reference is provided for solving actual project problems.

A magnetic liquid grinder for polishing the surface of metallic or non-metal work-piece features that when there is no action of magnetic, its magnetic liquid can flow freely and when a magnetic field is applied to it, it can become a visco-plastic substance with a certain rigidity to form a flexible grinding layer on the surface of work-piece. The surface of work-piece can be polished by the relative movement between work-piece and said flexible grinding layer.

The invention relates to a composite material plate with a folding sandwich structure and a forming method thereof and belongs to the fields of composite materials and forming technology thereof. A composite material plate or a curved plate with lightweight, adjustable three-dimensional rigidity and a permeable whole body is formed by co-curing a pre-curing folding sandwich structure and pre-curing upper and lower panels, or co-bonding the cured folding sandwich structure and the pre-cured upper and lower panels, or performing secondary bonding on the cured folding sandwich structure and the cured upper and lower panels. The composite material plate has a simple preparation process and high shape adaptability, and can be widely applied to structures with lightweight and capable of resisting shock damage.

The invention relates to a rapidly-assembled ecological planting module with variable bottom flexibility for mountain restoration and a preparation method of the rapidly-assembled ecological plantingmodule, and is applicable to rapid greening and repairing of broken hills and smooth steep slope rocks. The rapidly-assembled ecological planting module with the variable bottom flexibility comprisesa stainless steel wire mesh, a soft attaching layer, a lower palm fiber protection layer, a lower water-retaining agent layer, a seed center layer, an upper water-retaining agent layer, an upper palmfiber protection layer and a soft surface layer. The rapidly-assembled ecological planting module is convenient to produce, suitable in porosity, good water and moisture preservation performance and rapid to mount, sufficient growth space of plant root systems can be ensured by the aid of buffering and adjusting actions of long palm fibers, surviving and growing of the plants are facilitated, andthe soft attaching layer can ensure that the module adapts to mountain slopes with different surfaces.

The invention discloses a high-temperature antioxidant multi-layer composite coating on the surface of a carbon-based material and a preparation method of the coating. The multi-layer composite coating is arranged on the surface of a carbon-based material matrix and comprises a Re transitional layer, an Ir coating and an Ir-Al coating which are sequentially arranged from bottom to top. The preparation method comprises the following steps: treating the carbon-based material to obtain the carbon-based material matrix; then, depositing the Re transitional layer; then, preparing the Ir coating on the Re transitional layer by a fused salt electroplating method; and then alumetizing solid powder to obtain the high-temperature antioxidant multi-layer composite coating on the surface of the carbon-based material. The multi-layer composite coating disclosed by the invention is good in antioxidant dispersity and strong in inoxidizability, and can realize high-temperature antioxidant protection of the carbon-based material. The preparation method is simple in process, quick in deposition velocity and strong in adaptability to matrix shape, and the coating is uniform in thickness.

The invention relates to a centrifugal compressor (1) for an exhaust gas turbocharger, in particular an internal combustion engine. The centrifugal compressor has a compressor housing (2) comprising an axial inlet channel (3) and a centrifugal outlet channel (4); with a compressor impeller (6) for circulating and compressing a gas, wherein the compressor impeller (6) has an axial inlet side (7) facing towards an inlet passage (3), a centrifugal outlet side (8) facing an outlet channel (4), and an axial wheel surface contour (9) extending from the inlet side (7) extends up to the outlet side (8); a substantially sleeve-like adapter element (10) which may be axially inserted into an attachment portion (11) disposed at the compressor housing (2); wherein the adapter element (10) comprises, at least in sections, a surface contour (13) which is attached to the axial wheel surface contour (9), such that a gap width (W) between the adapter element (10) and the compressor impeller (6) can be adjusted along mutually facing surface contours (9, 13) through axial movement of the adapter member (10) in a fastening portion (11).

The invention discloses a method for preparing a zirconium dioxide permeation layer by zirconium or zirconium alloy surface ion oxygen permeation, which comprises the following steps: 1. sanding a zirconium or zirconium alloy surface, carrying out ultrasonic cleaning and water washing, and baking; 2. putting the zirconium or zirconium alloy into an ion nitriding furnace, vacuumizing until the gas pressure in the furnace is not greater than 10Pa, introducing argon into the ion nitriding furnace, carrying out ion bombardment cleaning on the zirconium or zirconium alloy surface when the gas pressure in the furnace is not lower than 20Pa, introducing air or oxygen into the ion nitriding furnace, and carrying out ion oxygen permeation on the zirconium or zirconium alloy surface subjected to ion bombardment cleaning, thereby obtaining the zirconium dioxide permeation layer on the zirconium or zirconium alloy surface. The zirconium or zirconium alloy surface subjected to ion bombardment cleaning is subjected to oxygen permeation to obtain the zirconium dioxide permeation layer with uniform and compact structure on the zirconium or zirconium alloy surface; and the zirconium dioxide permeation layer has high growth speed, and can obviously enhance the surface hardness and corrosion resistance of the zirconium or zirconium alloy.

The invention provides a night vehicle tail lamp extraction method based on descending luminance verification. According to the method, firstly, an image is subjected to preprocessing such as ROI (region of interest) segmentation, tail lamp broad threshold filtration and the like, the preprocessed image is subjected to highlight white area extraction and subjected to constraint filtration such as a length-width ratio and the like, and a suspected vehicle lamp object area in the image is obtained; then, the halo range of each suspected vehicle lamp object is determined and subjected to hierarchical development, and a hierarchical chart accurately covering the tail lamp halo area is obtained; finally, descending luminance verification calculation is performed on the hierarchical chart of halo, a vehicle lamp object with a high passing rate in verification calculation is reserved, and the vehicle lamp object with high reliability is obtained. The method is applicable to an image-based night vehicle detection system and has good tail lamp morphological adaptability and color adaptability, and the detection rate of a night vehicle detection method based on a tail lamp is increased, and the robustness of the night vehicle detection method based on the tail lamp is improved. The night vehicle tail lamp extraction method can be used for a night vehicle detection algorithm for the automatic driving and intelligent traffic field.

The invention relates to fiber reinforced flexible silica aerogel, which comprises glass fiber cloth reinforced ceramization phenolic resin sheets, glass fiber cloth reinforced epoxy resin sheets andflexible SiO2 aerogel and interlayer reinforced quartz fiber sewing threads. The inner part of the flexible silica aerogel is reinforced through interlayer overlapping of the glass fiber cloth reinforced epoxy resin sheets and the flexible SiO2 aerogel, the outer surface of the flexible silica aerogel is provided with the glass fiber cloth reinforced ceramization phenolic resin sheets used for strengthening and protecting the flexible SiO2 aerogel, and the quartz fiber sewing threads are used for through sewing the whole structure. The flexible silica aerogel has high strength and certain adhesive properties, the compressive strength of the flexible SiO2 aerogel is significantly improved, the problem of powder dropping of the aerogel is solved, and the interlayer bonding strength of the structure is improved, so that the reliability of aerogel application is greatly improved.

The invention discloses a shape-adaptive magnetic control self-sensing flexible pipeline and a preparation method thereof. The shape-adaptive magnetic control self-sensing flexible pipeline comprisesa hollow cylindrical flow field pipeline, a plurality of turns of coils, a plurality of anisotropic magnetic sensitive elastomers and a piezoelectric film sensor, the plurality of anisotropic magneticsensitive elastomers are arranged on the cross section of the flow field pipeline in a central symmetry manner, the plurality of turns of coils are arranged on the outer surface of the correspondingposition of the flow field pipeline, and the piezoelectric film sensor attached to the anisotropic magnetic sensitive elastomers senses the deformation of the magnetic sensitive elastomers to achieveself-sensing of the flexible pipeline. The pipeline is simple in structure, low in material cost and diverse in function. The sizes of the anisotropic magnetic sensitive elastomers and the piezoelectric film sensor are easy to control, so that the flow field pipeline has excellent shape adaptability. The off-surface deformation of the anisotropic magnetic sensitive elastomers is changed by adjusting a magnetic field generated in the pipeline after the plurality of turns of coils are electrified, so that the cross sectional area of the pipeline is changed. The deformation degree of the anisotropic magnetic sensitive elastomers is obtained through the piezoelectric film sensor, and self-sensing is achieved.

The invention discloses a high-voltage circuit breaker contact deburring device and a deburring method thereof and belongs to the field of surface treatment. The high-voltage circuit breaker contact deburring device is composed of a magnetic field generation device, a workpiece clamp, a magneto-rheological machining liquid container and a driving device. A DC voltage-stabilized source in the magnetic field generation device controls generated magnetic field intensity, so that machining liquid in the magneto-rheological machining liquid container is subjected to phase change to form a Bingham solid-state flexible abrasive layer. The workpiece clamp is composed of a home-made Mohs cone bar, a flexible diaphragm coupling, an insulating bush and a clamp body. The driving device drives a contact part to be immersed in magneto-rheological machining liquid to rotate at high speed through the workpiece clamp. Under the action of impact and grinding of the machining liquid, burrs on the edges of lobes formed on a contact are removed. The high-voltage circuit breaker contact deburring device is simple in structure, low in manufacturing cost and high in machining efficiency, and has the characteristics of high shape adaptability, high machined surface quality and small surface damage through a magneto-rheological machining method.

The invention provides a pneumatic soft robot system and method for achieving lossless grabbing. The pneumatic soft robot has the advantages that a novel multi-cavity pneumatic soft robot is designed,the curvature is uniformly changed, and the stress concentration is weakened; and the advanced 3D printing Polyjet technology is adopted in the manufacturing process, the material rigidity of the soft robot can be controlled, reliability is high, integral forming is achieved, and repeated manufacturing is convenient. In order to achieve lossless grabbing, a laser distance measuring sensor is installed to detect the distance between the robot and a grabbed object, so that the movement speed of the robot is in a certain proportion to the distance, the soft and fragile object can be prevented from being damaged due to too large collision force at the grabbing moment, too slow grabbing can be prevented, and the grabbing efficiency is achieved; a thin film pressure sensor is installed to measure the magnitude of contact force, stable closed-loop control is formed, and objects are prevented from being damaged in the grabbing process; and a control circuit and a control flow scheme are further designed to guarantee stable and reliable operation of the system, and finally lossless grabbing of the soft and fragile objects is achieved.

The invention provides an underwater sandwich sound insulation structure based on a foam super-structure surface. The underwater sandwich sound insulation structure comprises a sound source side surface sound insulation layer, a sound source side vibration reduction layer, a sound insulation side surface sound insulation layer, a sound insulation side vibration reduction layer and a foam super-structure surface layer. The foam superstructure surface layer comprises a plurality of foam block units; the foam block units are periodically arranged according to a set rule; for n foam block modules included in the foam block unit, the set height of an insertion plate of each foam block module, the length of the insertion plate and whether the insertion plate is installed are designed, then the surface phase of each foam block module is adjusted, and regulation and control over the sound wave phase within the range of 0-pi are achieved. According to the underwater sandwich sound insulation structure based on the foam super-structure surface, the weight, the thickness and the sound insulation effect of the sound insulation structure are considered, and on the premise that the structural strength is guaranteed, the excellent broadband sound insulation effect and the excellent vibration reduction effect are achieved with the small mass, the small thickness and the lower manufacturing cost.

The method includes steps: weaving the selected fiber into 3D orthogonal textile by using 3D orthogonal weaving machine; cement dipping 3D orthogonal textile to selected resin to produce 3D composite material, and measuring and calculating dielectric constant and dielectric loss of 3D composite material; using the dielectric constant to calculate basic size of radiating element of microstrip antenna, and weaving precast product of basic structure of microstrip antenna; using method of interweaving conduction wire and yarn of textile fiber to constitute radiating element above antenna and earth-plate at low place; the said radiating element and earth-plate are as top layer and bottom layer in 3D weaving structure. The 3D weaving structure possesses features of good integrality, high impact resistance, and not easy of layering. Combining with 3D textile in an integrated structure, the microstrip antenna becomes an inseparable part in the entirety of antenna and textile.

The invention relates to a flexible robot arm shape measuring method and system based on equivalent center point recognition. The flexible robot arm shape measuring method mainly comprises the steps of acquiring complete side images of arm sections of a flexible robot through a binocular camera fixed on a rigid robot; according to the arm sections respectively detected in the binocular images acquired by the binocular camera, identifying and fitting the contour of an arm lever, and solving image pixel coordinates of the centers of the corresponding arm sections; according to trigger information of man-machine interaction equipment, determining corresponding center points of the same arm section in the left and right ocular images; resolving the pose of the center of the arm lever corresponding to the pixel coordinates of the two center points of the binocular images in the coordinate system of the binocular camera; and through a kinematics algorithm, determining the current pose of the binocular camera relative to a rigid mechanical arm base, and according to the installation position relation of a rigid mechanical arm relative to the flexible robot, converting the solved pose into the pose of the center of the arm lever in the arm section in a flexible robot base coordinate system.

The invention relates to the technical field of engineering construction equipment, in particular to an intelligent attached lifting construction platform. A modular lap joint is adopted, a construction platform for various building shapes is used for external wall construction, indoor decoration, elevator shaft construction and the like, multi-level safety protection and intelligent control are adopted, and a single-column construction platform and a double-column construction platform can be formed according to actual needs. The modular lap joint comprises column standard modules which are connected by bolts and can be consistent with the appearance of the vertical face of the wall for realizing special-shaped building construction; the intelligent attached lifting construction platformfurther comprises a cross beam which is consistent to the appearance of the transverse face of the building through the modular lap joint. Compared with traditional equipment, the intelligent attachedlifting construction platform has the advantages of better economy, safety, efficiency, environment and the like, and is suitable for industry development needs, the equipment is intelligent, intelligent monitoring and control, remote monitoring and operation and background management are realized, the safety is greatly improved, intelligent monitoring control and multiple safety protection measures are realized, the construction efficiency is greatly improved, and the manned charging efficiency is high.

The invention belongs to the technical field of aircraft design and relates to a conformal folding wing that can change the aerodynamic area of ​​an aircraft wing and save parking space. The folding wing involved in the invention consists of three parts: an inner wing section, an outer wing section and a conformal rotary body. The wing designed according to the conformal folding wing layout effectively maintains the aerodynamic continuity of the wing shape when folded. It also provides sufficient support stiffness. Therefore, the invention can not only meet the folding requirements of the wings when the aircraft is parked on the ground, but can also achieve folding at a specified angle according to flight control requirements during flight.

The invention provides a metal slurry 3D printing moldless injection molding method. The 3D printing technology is combined with the injection molding technology, and the metal powder and the organic binder are uniformly mixed by the injection molding process to make a metal slurry. As the raw material for 3D printing, the slurry is printed layer by layer according to the data model by 3D printing equipment, and the metal blank is obtained layer by layer, and then degreased and sintered to obtain metal parts with complex shapes. This method can prepare parts that cannot be prepared by traditional injection molding, such as closed cavities and complex inner cavities. Using 3D printing technology, metal blanks can be directly formed without molds. The cost of single-piece and small-batch production is low, and the requirements for powder raw materials are low. , with high process reliability, strong repeatability and high efficiency, it is easy to realize the industrialization of 3D printing technology to prepare small thin-walled and complex-shaped metal parts.

The invention relates to a ship machine vibration self-driven sensing device based on a friction nanometer generator. The ship machine vibration self-driven sensing device comprises the friction nanometer generator, a signal processing circuit and an attaching fixed layer. The friction nanometer generator comprises a base, a top cover, a metal electrode, a contact layer and liquid metal. Hemispherical pits are formed in the base and the top cover; the metal electrode is fixedly connected to the inner surface of the pit of the base; the contact layer is fixedly connected to the inner surface of the metal electrode; the liquid metal is arranged between the base and the top cover and can freely vibrate in the spherical space; one end of the signal processing circuit is connected with the friction nanometer motor, and the other end is grounded; the attaching fixed layer is fixedly connected to the bottom side of the friction nanometer generator. The device is small in size, light in weight, low in cost, high in environment compatibility and capable of converting vibration information of the ship mechanical equipment with low and medium frequency motion characteristics into electric signals, and self-driven vibration sensing of the ship mechanical equipment is achieved.