A coordinate calibration system for measuring points on the curved surface of the movable guide vane of a water turbine

Abstract

This application relates to the technical field of hydraulic turbines, and provides a coordinate calibration system for measuring points on the curved surface of the movable guide vane of a hydraulic turbine to solve the marking and numerical display of the coordinate position of a certain point on the movable guide vane. This application first performs offline simulation based on the acquired original data to fit the upper and lower curved surface equation models of the airfoil lobe section; then uses ultrasonic sensors to automatically and real-time measure the X-axis distance and Z-axis distance of any point on the upper and lower curved surfaces, and automatically calculates the Y-axis distance according to the fitted upper and lower curved surface equation models, so as to obtain the three-dimensional coordinate values (x, y, z) of any point on the airfoil lobe, realizing the precise positioning of complex curved surfaces. The coordinate values calculated by this application can also be automatically and real-time displayed on the interface of electrical equipment. This application can quickly and efficiently calculate the coordinate position of a certain point on the curved surface of the movable guide vane, with high measurement accuracy, and can effectively avoid the reading error of manual measurement.

Description

Technical Field

[0001] This application relates to the technical field of hydraulic turbines, and particularly to a coordinate calibration system for measuring points on the curved surface of the movable guide vane of a hydraulic turbine. Background Art

[0002] Many large workpieces, such as large hydraulic turbine blades, ship propeller blades, etc., are designed as complex curved surfaces. Due to the large volume and weight of the blades, and such large public buildings need to be assembled and formed by multiple blades before they can be put into use, the blades after installation are not easy to disassemble. Then, if there is a defect at a certain position on the guide vane, due to the complex curved surface of the blade, how to timely and accurately feedback the specific position of the defect to the manufacturer or supplier has always been the direction that those skilled in the art have been constantly exploring and researching.

[0003] Currently, in the domestic positioning method for curved surfaces, it still mostly relies on manual measurement to complete, that is, by using a ruler to measure the relative positions of X, Y, and Z, recording them with a pen, and then inputting them into a computer or other controllers, and obtaining the precise positioning of the defect through conversion and calculation. It can be seen that the above positioning method has problems of low efficiency, large human error, and low measurement accuracy.

[0004] In the field of industrial automation control, the measurement of position and numerical feedback are relatively mature in one-dimensional or regular two-dimensional planes. Mainly sensors are used for position measurement, position calibration, and display in one-dimensional or regular two-dimensional planes, but it is extremely difficult to calibrate the position of a certain point on a complex three-dimensional curved surface. In the hydropower industry, the movable guide vanes of hydraulic turbines are mostly irregular curved surface solid figures, with an airfoil cross-section and an arc-shaped flap body. For specific shapes, see Figures 1 to 3 . It can be seen from the figure that the movable guide vane of the hydraulic turbine mainly consists of three parts: the lower journal 1, the airfoil flap body 2, the middle journal 3, and the upper journal 4. Among them, the leaf surface of the airfoil flap body 2 facing the water flow directly is the water-facing surface, and the leaf surface not directly facing the water flow is called the back surface. If an XY coordinate system of the longitudinal section of the airfoil flap body is established with the axis as the origin, then the curved surface formed by the outer arc of the airfoil flap body above the axis is defined as the upper curved surface, and the curved surface formed by the outer arc of the airfoil flap body below the axis is defined as the lower curved surface. The above special shape determines that it is difficult to accurately determine the specific coordinates of a certain point on the guide vane, and the coordinate positioning on the airfoil flap body with a complex curved surface is the most complex. Therefore, whether a set of equipment can be specifically designed to quickly and accurately mark and display the specific position of a certain moving point on the airfoil flap body is a technical problem that urgently needs to be solved at present. Summary of the Invention

[0005] In order to overcome the deficiencies of the prior art and solve the problems of low calibration efficiency of the measuring point coordinates on the curved surface of the movable guide vane of a water turbine, large human errors, and low measurement accuracy in the prior art, the present application aims to provide a coordinate calibration system for the measuring points on the curved surface of the movable guide vane of a water turbine. By determining the coordinates of discrete points on the curved surfaces at different positions of the movable guide vane of the water turbine, and then performing equation fitting, the coefficients of the fitted equation can be set on the electrical monitoring device, so as to determine the exact position of any point on the movable guide vane.

[0006] To achieve the above object, the present application provides a coordinate calibration system for the measuring points on the curved surface of the movable guide vane of a water turbine, specifically including: a processor and a positioning device. The positioning device includes a controller and a sensor. The sensor is arranged at any measuring point to be measured on the curved surface of the movable guide vane of the water turbine, and is used to measure the X-axis data and Z-axis data of the measuring point to be measured, and send the X-axis data and the Z-axis data to the controller; the processor is configured to execute the following steps:

[0007] Obtain the data boundary of the longitudinal section of the airfoil flap.

[0008] According to the data boundary, obtain the upper surface discrete point map and the lower surface discrete point map of the longitudinal section of the airfoil flap.

[0009] According to the upper surface discrete point map and the lower surface discrete point map, perform polynomial fitting to obtain an upper surface fitting model and a lower surface fitting model.

[0010] The controller is configured to execute the following steps:

[0011] Obtain the X-axis data and the Z-axis data.

[0012] According to the X-axis data, the upper surface fitting model and the lower surface fitting model, obtain the Y-axis data corresponding to the X-axis data.

[0013] According to the X-axis data, the Y-axis data and the Z-axis data, accurately locate the any measuring point to be measured to obtain an accurate target position.

[0014] Further, the specific method for obtaining the Y-axis data corresponding to the X-axis data according to the X-axis data, the upper surface fitting model and the lower surface fitting model is:

[0015] According to the upper surface fitting model, obtain the upper surface fitting coefficient; and according to the lower surface fitting model, obtain the lower surface fitting coefficient;

[0016] Input the X-axis data, the upper surface fitting coefficient or the lower surface fitting coefficient into the positioning model preset in the positioning device, and solve the Y-axis data corresponding to the X-axis data.

[0017] Further, the upper surface fitting model and the lower surface fitting model are set as sixth-order high-order equations.

[0018] Further, the positioning device further includes a human-machine interface. The controller sends the accurate target position to the human-machine interface, and the human-machine interface is used for real-time display of the accurate target position and the operation page, and for manually setting the coefficients of the positioning model.

[0019] Further, polynomial fitting is performed using MATLAB software.

[0020] Further, polynomial fitting is performed using the least squares method.

[0021] Further, the sensor is an ultrasonic ranging sensor, and the ultrasonic ranging sensor is of model M18.

[0022] Further, the coordinate calibration system further includes a power supply device, and the power supply device is used to provide power support for the processor and the positioning device.

[0023] Further, the positioning device further includes a power supply device, and the power supply device is used to provide power support for the controller, the sensor, and the human-machine interface, so that the positioning device can be used independently of the coordinate calibration system.

[0024] Further, the human-machine interface uses MCGS embedded software.

[0025] This application provides a coordinate calibration system for the surface measurement points of the movable guide vane of a water turbine to solve the marking and numerical display of the coordinate position of a certain point on the movable guide vane. This application first performs offline simulation based on the acquired original data to fit the upper and lower surface equation models of the airfoil lobe profile; then uses an ultrasonic sensor to automatically measure the X-axis distance and Z-axis distance of any point on the upper and lower surfaces in real time, and automatically calculates the Y-axis distance according to the fitted upper and lower surface equation models, so as to obtain the three-dimensional coordinate values (x, y, z) of any point on the airfoil lobe, realizing the precise positioning of complex surfaces. The coordinate values calculated by this application can also be automatically and real-time displayed on the interface of electrical equipment. This application can quickly and efficiently calculate the coordinate position of a certain point on the surface of the movable guide vane, and has high measurement accuracy, effectively avoiding the reading error of manual measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of this application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0027] Figure 1 3D stereo schematic diagram of the movable guide vane of a water turbine provided by an embodiment of the present application;

[0028] Figure 2 Schematic sectional view of the movable guide vane of a water turbine provided by an embodiment of the present application;

[0029] Figure 3 Schematic sectional view of the airfoil flap of the movable guide vane of a water turbine provided by an embodiment of the present application;

[0030] Figure 4 Schematic structural diagram of a coordinate calibration system for the curved surface measurement points of the movable guide vane of a water turbine provided by an embodiment of the present application;

[0031] Figure 5 Schematic workflow diagram of a coordinate calibration system for the curved surface measurement points of the movable guide vane of a water turbine provided by an embodiment of the present application;

[0032] Figure 6 Schematic diagram of the scatter point distribution on the upper surface of the airfoil flap of the movable guide vane of a water turbine provided by an embodiment of the present application;

[0033] Figure 7 Schematic diagram of the scatter point distribution on the lower surface of the airfoil flap of the movable guide vane of a water turbine provided by an embodiment of the present application;

[0034] Figure 8 Schematic diagram of the polynomial fitting on the upper surface of the airfoil flap of the movable guide vane of a water turbine provided by an embodiment of the present application;

[0035] Figure 9 Schematic diagram of the polynomial fitting on the lower surface of the airfoil flap of the movable guide vane of a water turbine provided by an embodiment of the present application. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present application will be described completely and clearly in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0037] To facilitate the understanding of the technical solutions in the embodiments of the present application, some concepts involved in the embodiments of the present application will be described first below.

[0038] In the prior art, for the measurement of a curved surface, it is mostly manual measurement, and then data recording, integration, and marking are carried out. In the industrial field, imaging technology may be used for curved surface measurement, that is, direct imaging scanning is performed on a certain point of a three-dimensional solid and measurement and control, and then the positions and data of the whole and local parts are calculated in real time. However, the imaging technology has a high cost and still cannot accurately determine the X, Y, and Z coordinates completely.

[0039] See Figures 1 to 3 It can be seen that the movable guide vane of the water turbine mainly consists of three parts: the lower journal 1, the airfoil flap body 2, the middle journal 3, and the upper journal 4. Since the demarcation point between the middle journal and the upper journal is not very clear, only the approximate area is marked here, and the middle journal 3 and the upper journal 4 are regarded as one part.

[0040] Since the movable guide vane of the water turbine is integrally formed, the same axis is shared among the parts. Therefore, in the embodiment of the present application, a three-dimensional coordinate system is established with the axis as the center of the circle. Also, since the length of the entire movable guide vane is easy to measure, the length direction of the movable guide vane of the water turbine is set as the Z-axis direction, and an XY two-dimensional coordinate system is established with the axis as the center of the circle for the longitudinal section of the airfoil flap body. The specific settings of the X-axis and the Y-axis are as Figure 3 shown. Among them, the outer curved surface above the axis is the upper curved surface, and the outer curved surface below the axis is the lower curved surface. The so-called data boundary is the curve formed by the external arc of the airfoil flap body.

[0041] See Figure 4 and Figure 5 , which are respectively a schematic structural diagram and a schematic working process diagram of a coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine provided by the embodiment of the present application. Combining Figure 4 and Figure 5 it can be seen that the embodiment of the present application provides a coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine. The coordinate calibration system specifically includes: a processor, a positioning device, and a power supply device. Among them, the power supply device is used to provide power support for the processor and the positioning device. In the embodiment of the present application, the positioning device further includes a controller, a sensor, a human-machine interface, and a power supply device. The sensor is arranged at any measurement point on the curved surface of the movable guide vane of the water turbine and is used to measure the X-axis data and Z-axis data of the measurement point and send the X-axis data and Z-axis data to the controller; the power supply device is used to provide power support for the controller, the sensor, and the human-machine interface, and can also enable the positioning device to be used independently away from this coordinate calibration system.

[0042] In the embodiments of the present application, an ultrasonic ranging sensor is adopted, and the M18 model is preferably used for the ultrasonic ranging sensor. Since the object to be measured is constantly moving, for the determination of dynamic positions, the traditional rope-drawing sensor is obviously no longer applicable, and a wireless, highly integrated, easy-to-install, and small-sized sensor needs to be selected. Therefore, in the embodiments of the present application, adopting an ultrasonic ranging sensor is the best choice. Specifically, the outer diameter of this type of ultrasonic ranging sensor is M18, the standard target board size is 100×100 mm, and the scanning form of this type of ultrasonic ranging sensor is fan-shaped, so that the measurement error caused by installation deviation can be greatly reduced. More specifically, the working power supply required for this type of sensor is 24V, the three-wire connection principle is adopted, the measurement range can reach 3 m and above, the output signal type is 4-20 mA or 0-10V current signal, the ambient temperature is -5 to 50 °C, and the external wiring method adopts a 5-pin plug type.

[0043] In the embodiments of the present application, the human-machine interface in the positioning device can adopt MCGS embedded software. The controller sends the accurate target position to the human-machine interface, and the human-machine interface is used for real-time display of the accurate target position and the operation page, and for manually setting the coefficients of the positioning model. Specifically, the human-machine interface is used for screen configuration, and mainly has functions such as parameter setting, information display, sensor calibration, equation setting, data display, screen display, and storage. Preferably, a small touch screen of the MCGS brand, model TPC7062KD, can be selected for the human-machine interface. This model product is a high-performance embedded integrated touch screen with an embedded low-power CPU as the core. The product has a delicate body, adopts a standard 7-inch liquid crystal display, the resolution is 800×480, the installation control is small, the display quality is excellent, and a four-wire resistive touch screen is configured, and its resolution reaches 1024×1024.

[0044] Specifically, the processor is configured to execute the following steps:

[0045] Step S11: Obtain the data boundary of the longitudinal section of the airfoil flap. Specifically, there is a design drawing when designing the movable guide vane of the water turbine. The data boundary in the embodiments of the present application is the discrete point data on the curve formed by the outer arc of the airfoil flap provided on the design drawing. The specific data content can be referred to Table 1.

[0046] Table 1 Quadrant data of the airfoil flap section

[0047]

[0048] From the combination of Table 1 and Figure 3 it can be seen that the data in the table covers the data relationships in the four quadrants in the horizontal and vertical directions, and Figure 3 in it, L is 1120 cm and D is 578 cm.

[0049] Step S12: According to the data boundary, i.e., the data in Table 1, obtain the discrete point distribution diagrams of the upper surface and the lower surface of the longitudinal section of the airfoil flap body, specifically as shown in Figure 6 and Figure 7 .

[0050] Step S13: According to the discrete point diagram of the upper surface and the discrete point diagram of the lower surface, perform polynomial fitting to obtain the upper surface fitting model and the lower surface fitting model. Specifically, according to the scatter plot, the curve equations of the upper surface and the lower surface can be fitted. For the specific fitting effect, reference can be made to Figure 8 and Figure 9 .

[0051] In the embodiment of the present application, MATLAB software can be used for polynomial fitting, or the least squares method written in C language can be used for polynomial fitting, or the simplest EXCEL can be used for polynomial fitting. The specific fitting method is not limited here, and the fitting method can be selected according to the complexity and quantity of the data to achieve the best fitting effect ultimately.

[0052] In the embodiment of the present application, the upper surface fitting model and the lower surface fitting model are set as 6th-order high-order equations. Specifically, the model fitting times can be less than or equal to 6 times, and it is not limited that it must be fitted 6 times. For example, it can be set to be fitted 2 times or 3 times, etc., as long as it is consistent with the positioning model in the subsequent electrical equipment.

[0053] In the embodiment of the present application, the controller is configured to execute the following steps:

[0054] Step S21: Obtain the X-axis data and Z-axis data of the point to be measured. For the linear measurement method of x or z, generally, according to the linear relationship of the sensor, i.e., the linear relationship between the analog quantity and the induced displacement, the current sampling is interpolated to obtain the result. This method has been described in detail in the prior art and will not be elaborated here.

[0055] Step S22: According to the X-axis data, the upper surface fitting model and the lower surface fitting model, obtain the Y-axis data corresponding to the X-axis data.

[0056] In the embodiment of the present application, the specific method for obtaining the Y-axis data corresponding to the X-axis data according to the X-axis data, the upper surface fitting model and the lower surface fitting model is as follows:

[0057] Step S221: According to the upper surface fitting model, obtain the upper surface fitting coefficients; and according to the lower surface fitting model, obtain the lower surface fitting coefficients.

[0058] Step S222 inputs the X-axis data, the upper surface fitting coefficient, or the lower surface fitting coefficient into a preset positioning model in the positioning device to solve for the Y-axis data corresponding to the X-axis data.

[0059] Specifically, in the human-machine interface and the measurement and control program, an equation setting method is designed in the embodiments of the present application, that is, the coefficients of each equation are set independently, which facilitates the setting of various surfaces and equations below the sixth order. The highest fitting order is set to 6 in the embodiments of the present application because the preset positioning model in the positioning device in the embodiments of the present application is set to the sixth order at most. In daily applications, it is not limited that the highest can only be set to 6 orders. Customized modeling can be carried out according to the actual situation and specific requirements, and then the fitting order can be set according to the established model, with strong versatility.

[0060] Step S23: Precise positioning of any point to be measured is performed according to the X-axis data, the Y-axis data, and the Z-axis data to obtain an accurate target position.

[0061] Specifically, since the equation of the surface is known, that is, the relationship of Y = F(X), for any point on the surface, according to the X data measured by the sensor at this point, the Y coordinate can be calculated. Similarly, the sensor at this point can also directly measure the axial Z distance, so that the three-dimensional coordinates of a certain point can be accurately calibrated.

[0062] It can be seen that the key points of the embodiments of the present application are as follows: First, for the surface of the movable guide vane, according to different characteristics, polynomial fitting is performed on the upper surface and the lower surface respectively, and then according to the fitted equation, the difficult-to-measure y coordinate is solved. Second, the fitted equation can be set with coefficients on the electrical equipment interface, and the highest can be set to 6 times. The equation has strong versatility and is suitable for the equation setting and coordinate positioning of the position of a certain point on various such surfaces. Third, in order to set, calculate, and display the position positioning of a certain point on the movable guide vane, a set of special positioning devices is designed in the embodiments of the present application. The positioning device is composed of components such as a power supply device, a controller, a wireless ranging sensor, and a human-machine interface. Among them, special programs are developed for the controller and the human-machine interface. The controller is programmed in C language, and the human-machine interface uses MCGS embedded software. The programming and calculation are simple, the display is rich and vivid, which is conducive to the accurate position calibration and intuitive position display of the monitoring point. In particular, the position of the dynamically moving monitoring point can be displayed in real-time coordinates, which is more vivid and intuitive.

[0063] As can be seen from the above technical solutions, the present application provides a coordinate calibration system for the curved surface measurement points of a water turbine's movable guide vane, which is used to solve the marking and numerical display of the coordinate position of a certain point on the movable guide vane. First, the present application performs offline simulation based on the acquired original data to fit the upper and lower curved surface equation models of the airfoil flap section; then, an ultrasonic sensor is used to automatically measure the X-axis distance and Z-axis distance of any point on the upper and lower curved surfaces in real time, and according to the fitted upper and lower curved surface equation models, the Y-axis distance is automatically calculated, so as to obtain the three-dimensional coordinate values (x, y, z) of any point on the airfoil flap, realizing the precise positioning of the complex curved surface. The coordinate values calculated by the present application can also be automatically and real-time displayed on the interface of the electrical equipment. The present application can quickly and efficiently calculate the coordinate position of a certain point on the curved surface of the movable guide vane, and has high measurement accuracy, which can effectively avoid the reading error of manual measurement.

[0064] In summary, the advantages of the embodiments of the present application are as follows:

[0065] First, an automated electrical device is used to replace manual measurement. The measurement point samples a wireless sensor. After measuring the one-dimensional linear displacement, the device can automatically calculate other coordinates and perform three-dimensional data calibration of the point.

[0066] Second, the method of sampling and fitting equations for the upper and lower curved surfaces of the movable guide vane is preset into the controller, so that other coordinates do not need to be measured again and can be directly calculated without error. It is more efficient and accurate than manual measurement, and the display is also more vivid and intuitive; and as the position of the measurement and control point changes, the data is also tracked in real time, and historical data can also be stored and retrieved, which is convenient and simple.

[0067] Third, this device is not only applicable to the movable guide vane of the water turbine, but also applicable to the positioning of a certain point on other irregular three-dimensional curved surfaces, with strong versatility.

[0068] It should be noted that the principles and methods of data fitting, equation setting, and coordinate data display proposed in the present application can also be used for the measurement and control needs of other industries.

[0069] The above has described the present application in detail in combination with specific implementation manners and exemplary examples, enabling those skilled in the art to understand or implement the present application. However, these descriptions should not be construed as limitations on the present application. Those skilled in the art understand that without departing from the spirit and scope of the present application, various equivalent replacements, modifications, or improvements can be made to the technical solutions and their implementation manners of the present application, and these all fall within the scope of the present application. The protection scope of the present application is subject to the appended claims.

Claims

1. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine, characterized in that, it includes a processor and a positioning device. The positioning device includes a controller and a sensor. The sensor is arranged at any measurement point to be measured on the curved surface of the movable guide vane of the water turbine, and is used to measure the X-axis data and Z-axis data of the measurement point to be measured, and send the X-axis data and the Z-axis data to the controller; the processor is configured to execute the following steps: Obtain the data boundary of the longitudinal section of the airfoil lobe; According to the data boundary, obtain the discrete point diagram of the upper surface and the discrete point diagram of the lower surface of the longitudinal section of the airfoil lobe; According to the discrete point diagram of the upper surface and the discrete point diagram of the lower surface, perform polynomial fitting to obtain an upper surface fitting model and a lower surface fitting model; The controller is configured to execute the following steps: Obtain the X-axis data and the Z-axis data; According to the X-axis data, the upper surface fitting model and the lower surface fitting model, obtain the Y-axis data corresponding to the X-axis data; According to the X-axis data, the Y-axis data and the Z-axis data, accurately locate the any measurement point to be measured to obtain an accurate target position.

2. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 1, characterized in that, The specific method for obtaining the Y-axis data corresponding to the X-axis data according to the X-axis data, the upper surface fitting model and the lower surface fitting model is: Obtain the upper surface fitting coefficient according to the upper surface fitting model; and obtain the lower surface fitting coefficient according to the lower surface fitting model; Input the X-axis data, the upper surface fitting coefficient or the lower surface fitting coefficient into a preset positioning model in the positioning device, and solve the Y-axis data corresponding to the X-axis data.

3. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 1 or 2, characterized in that, The upper surface fitting model and the lower surface fitting model are set as 6th-order high-order equations.

4. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 2, characterized in that, The positioning device further includes a human-machine interface. The controller sends the accurate target position to the human-machine interface. The human-machine interface is used to display the accurate target position and the operation page in real-time, and is used to manually set the coefficients of the positioning model.

5. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 1, characterized in that, MATLAB software is used for polynomial fitting.

6. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 1, characterized in that, A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 1, characterized in that the least squares method is used for polynomial fitting.

7. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 1, characterized in that, The sensor is an ultrasonic ranging sensor, and the ultrasonic ranging sensor is of the M18 model.

8. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 1, characterized in that, the coordinate calibration system further includes a power supply device for providing power support to the processor and the positioning device.

9. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 4, characterized in that, the positioning device further includes a power supply device for providing power support to the controller, the sensor and the human-machine interface, enabling the positioning device to be used independently of the coordinate calibration system.

10. A coordinate calibration system for measuring points on the curved surface of a movable guide vane of a water turbine according to claim 4, characterized in that, the human-machine interface uses MCGS embedded software.

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