UV furnace automatic shading control method and system based on technological parameter linkage

Abstract

The invention relates to the field of industrial automation control, in particular to a UV furnace automatic shading control method and system based on technological parameter linkage. The method comprises the steps of obtaining a reference pulse count value of the tail end of a workpiece on a conveyor belt; acquiring an instantaneous pulse frequency related to the speed of the conveyor belt and a pulse frequency change rate related to the acceleration; calculating a dynamic displacement prediction index; a corrected trigger pulse threshold value is generated, and the trigger pulse threshold value is equal to the sum of the reference pulse count value and the set physical distance pulse number from the sensor to the visor drop point, and the dynamic displacement prediction index is subtracted from the sum of the reference pulse count value and the set physical distance pulse number; and when the real-time pulse count value reaches the trigger pulse threshold value, a closing instruction is sent to the shading mechanism. According to the scheme, automatic shading control of the UV furnace can be more accurate.

Description

Technical Field

[0001] This invention relates to the field of industrial automation control. More specifically, this invention relates to an automatic shading control method and system for UV furnaces based on process parameter linkage. Background Technology

[0002] Ultraviolet curing (UV) technology, with its characteristics of second-level curing, low pollution, and space saving, has become a core process in PCB manufacturing, semiconductor thin-film curing, and precision optical component packaging. In these fields, the stable operation of the conveyor belt and the precise activation of the UV lamps are crucial to ensuring high yield rates.

[0003] To address gaps caused by intermittent feeding or irregular arrangement, existing technologies often employ pulse counting position synchronization algorithms based on incremental encoders. This algorithm records the encoder pulse values ​​as the workpiece passes the sensor and combines this with a fixed pulse increment corresponding to the physical distance between the sensor and the light-shielding plate to determine the trigger position for the light-shielding plate's action. This allows the light-shielding plate to close during gaps when no workpiece passes, thus saving energy and reducing emissions.

[0004] However, existing pulse counting control methods have significant technical limitations. They often ignore the coupling relationship between the physical lag time of the actuator and the speed of the conveyor belt, i.e., the speed-position mismatch problem.

[0005] Specifically, mechanical light-blocking mechanisms (such as pneumatic shutters or electric gates) require an inherent physical response time (e.g., 200 milliseconds) from receiving a command to fully closing. However, in traditional algorithms, the pulse threshold for triggering the action is usually fixed. When the conveyor belt is running at low speed, the conveying distance corresponding to this 200 milliseconds is short; while when the conveyor belt is running at high speed or in the acceleration phase, the distance the workpiece moves within the same 200 milliseconds will increase significantly. This difference means that at high transmission speeds, the light-blocking plate may not be fully closed before the workpiece enters the light-blocking area (causing light leakage), or the light-blocking plate may close too late (resulting in ineffective edge illumination); conversely, at low speeds, it may close prematurely, causing workpiece damage.

[0006] Therefore, the existing static pulse counting cannot meet the high-precision shading requirements under variable frequency speed regulation or non-steady speed, resulting in inaccurate automatic shading control of UV furnaces. Summary of the Invention

[0007] The purpose of this invention is to propose an automatic shading control method and system for UV furnaces based on process parameter linkage, in order to solve the problem that existing algorithms in the prior art cannot adapt to the high-precision shading requirements under variable frequency speed regulation or non-steady speed, thus causing inaccurate automatic shading control of UV furnaces; to this end, this invention provides solutions in the following two aspects.

[0008] In a first aspect, the present invention provides an automatic shading control method for a UV furnace based on process parameter linkage, comprising: Obtain the reference pulse count value at the end of the workpiece on the conveyor belt; Obtain the instantaneous pulse frequency related to the conveyor belt speed, and the pulse frequency change rate related to acceleration; Calculate the dynamic displacement prediction index, which is determined by the instantaneous pulse frequency and the rate of change of pulse frequency based on the kinematic model; A corrected trigger pulse threshold is generated, wherein the trigger pulse threshold is equal to the sum of the reference pulse count value and the set number of pulses representing the physical distance from the sensor to the landing point of the light shield, minus the dynamic displacement prediction index. When the real-time pulse count value reaches the trigger pulse threshold, a closing command is sent to the light-shielding mechanism.

[0009] The above solution obtains the instantaneous pulse frequency (speed) and pulse frequency change rate (acceleration) of the conveyor belt in real time, and dynamically calculates the displacement prediction index of the conveyor belt within the inherent response time of the shading mechanism. This allows for real-time compensation for mechanical lag when generating the trigger threshold, effectively solving the problem that existing static pulse counting technology cannot adapt to the variable speed or unsteady operation of the conveyor belt. It also eliminates the shading timing deviation caused by the "speed-position" mismatch, ensuring that the shading mechanism can accurately close the moment the workpiece leaves under various working conditions such as high speed, acceleration, or deceleration. This prevents energy waste caused by UV light leakage and avoids damage to the workpiece due to premature closure.

[0010] Optionally, the dynamic displacement prediction index The calculation method is as follows: ; in, The instantaneous pulse frequency; The rate of change of the pulse frequency; The inherent response time of the light-shielding mechanism.

[0011] The above scheme utilizes kinematic principles to construct an accurate prediction model, combining the first-order influence of the current speed on the dynamic displacement prediction index with the second-order correction of the acceleration on the dynamic displacement prediction index. This enables the quantitative calculation of the additional displacement generated by the conveyor belt during the operation of the shading mechanism, thereby achieving accurate prediction and compensation of displacement deviations across the entire speed range (including uniform speed, acceleration, and deceleration processes), and improving the mathematical accuracy of the control algorithm.

[0012] Optionally, the modified trigger pulse threshold The calculation method is as follows: ; in, The reference pulse count value; The number of pulses for the physical distance; The dynamic displacement prediction index; It is a safety margin factor with a value between 1.0 and 1.05.

[0013] The above scheme introduces a safety margin coefficient in the trigger threshold calculation. The feedforward prediction strategy not only offsets the mechanical lag, but also adds fault tolerance space based on the theoretical target position. This ensures that the light shield closes reliably after the workpiece has completely left the light shielding area and before the next workpiece arrives. It prevents the light shield from closing too late or accidentally damaging the workpiece due to minor mechanical fluctuations or calculation errors, and significantly improves the operational safety and robustness of the system.

[0014] Optionally, obtaining the instantaneous pulse frequency and the rate of change of pulse frequency includes: The encoder's pulse signal is differentially processed within a set time window to obtain the instantaneous pulse frequency; multiple consecutive instantaneous pulse frequencies are differentially processed to obtain the pulse frequency change rate.

[0015] Optionally, the method further includes: Measure the pulse count value corresponding to the actual position after the light-shielding mechanism is closed; calculate the deviation between the actual position and the target position, where the target position is the sum of the reference pulse count value and the physical distance pulse count; Based on the aforementioned deviation, the inherent response time is self-corrected.

[0016] The above solution introduces a closed-loop correction mechanism. By monitoring the deviation between the actual position and the theoretical target position after the shading mechanism is closed, it automatically senses and compensates for the inherent response time drift caused by mechanical wear, air pressure fluctuations or equipment aging. This enables adaptive adjustment of system parameters and ensures that the equipment maintains high-precision shading control performance during long-term operation.

[0017] Optionally, the self-calibration includes: If the actual closing position leads the target closing position in the conveying direction, the mechanical response time is reduced; If the actual closing position lags behind the target closing position in the transmission direction, the mechanical response time is increased.

[0018] The self-calibration adjustment strategy in the above scheme can fine-tune the mechanical response time parameters according to the lead or lag of the actual closed position relative to the target position, thereby dynamically eliminating accumulated errors and preventing the control accuracy from decreasing as the equipment is used over time due to fixed parameters, thus ensuring control consistency.

[0019] Optionally, obtaining the reference pulse count value includes: A photoelectric sensor is installed at the entrance of the UV furnace; when the photoelectric sensor detects the end of the workpiece passing by, the current pulse count value of the encoder is recorded as the reference pulse count value.

[0020] Optionally, the inherent response time of the light-shielding mechanism is a pre-calibrated physical time constant, representing the time required from the controller issuing a closing command to the light-shielding mechanism completing an effective shading action.

[0021] Optionally, the light-shielding mechanism is a pneumatic shutter or an electric gate mechanism.

[0022] In the second aspect, the automatic shading control system for UV furnaces based on process parameter linkage includes: processor; The memory stores computer instructions for automatic shading control of a UV furnace based on process parameters. When the computer instructions are executed by the processor, the system performs the aforementioned automatic shading control method for a UV furnace based on process parameters.

[0023] The beneficial effects of this invention are as follows: The present invention acquires the speed and acceleration of the conveyor belt in real time and uses a kinematic model to dynamically calculate the displacement prediction index within the mechanical response time, thereby providing feedforward compensation for the light-shielding trigger threshold. Simultaneously, it introduces a parameter self-correction mechanism based on the actual landing point deviation, solving the positional deviation problem caused by the neglect of mechanical response lag and conveyor belt speed coupling in traditional static pulse counting. This enables precise closure of the light-shielding plate under variable speed and unsteady-state operation, effectively preventing light leakage and workpiece clamping, and improving process quality and energy efficiency. Attached Figure Description

[0024] Figure 1 The flowchart illustrating the steps of the automatic shading control method for a UV furnace based on process parameter linkage in this embodiment is shown in the schematic diagram. Figure 2This diagram schematically illustrates the real-time monitoring of the pulse counting-based triggering system in this embodiment. Figure 3 The schematic diagram illustrates the structure of the automatic shading control system for a UV furnace based on process parameter linkage in this embodiment. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0026] The solution of this invention is mainly applied to UV curing production lines in fields such as PCB manufacturing and semiconductor packaging. This production line is equipped with a UV oven, a conveyor belt for carrying workpieces, an inlet sensor located at the entrance of the UV oven, an incremental encoder synchronously connected to the conveyor belt drive mechanism, and a light-shielding mechanism installed below the UV lamps.

[0027] Specifically, when the conveyor belt carrying the workpiece passes through the UV oven inlet, the inlet sensor detects the end of the workpiece passing by. At this point, the sensor detects the workpiece's arrival and sends a start signal to the control system (such as a PLC). The controller immediately records the current value of the incremental encoder as a reference pulse count value, thus marking a digital coordinate anchor point for the workpiece on the infinitely long conveyor belt. When the value fed back by the incremental encoder indicates that the workpiece is about to enter the effective irradiation area of ​​the UV lamp, the control system instructs the light-shielding mechanism to open rapidly. At this time, the UV light directly irradiates the surface of the workpiece for curing. When the workpiece leaves the irradiation area, the light-shielding mechanism immediately closes (shielding the lamp).

[0028] In one embodiment, the workpiece can be a circuit board or a semiconductor thin film; the inlet sensor is a photoelectric sensor; and the light-blocking mechanism can be a pneumatic shutter or an electric gate, etc.

[0029] The automatic shading control method for UV furnaces based on process parameter linkage of the present invention mainly solves the problem of inaccurate shading timing caused by the inherent mechanical response lag of the shading mechanism when the conveyor belt is operating at variable speed or in an unsteady state (such as during acceleration and deceleration).

[0030] Specifically, such as Figure 1 As shown, the automatic shading control method for UV furnace based on process parameter linkage in this embodiment includes the following steps: Step S1: Obtain the reference pulse count value and kinematic parameters.

[0031] In this embodiment, the first step is to establish a positional reference for the workpiece on the conveyor belt. Specifically, when the inlet sensor detects the end of the workpiece passing on the conveyor belt, the controller immediately reads the current pulse count value of the incremental encoder and marks it as the reference pulse count value. This value represents the zero point position of the workpiece end on the time axis.

[0032] Simultaneously, the controller monitors the motion state of the conveyor belt in real time to obtain the corresponding kinematic parameters. Specifically, in order to achieve high-precision dynamic compensation, it is necessary to obtain the kinematic parameters of the conveyor belt, including the instantaneous pulse frequency related to the conveyor belt speed and the rate of change of pulse frequency related to acceleration.

[0033] The specific implementation method is as follows: within a set time window, the pulse signal fed back by the incremental encoder is subjected to first-order differential processing to obtain the instantaneous pulse frequency, which physically corresponds to the real-time speed of the conveyor belt. .

[0034] Furthermore, the second-order difference processing is performed on the multiple continuously acquired instantaneous pulse frequencies to obtain the pulse frequency change rate. This pulse frequency change rate physically corresponds to the real-time acceleration of the conveyor belt.

[0035] The above-mentioned time window is set to 10ms. Of course, it can be determined according to the actual situation.

[0036] In the above embodiments, the time window differential processing of the encoder pulse signal is used to obtain the instantaneous speed and acceleration information of the conveyor belt in real time and at low cost without the need to add an expensive speed sensor. This ensures the control system's ability to respond quickly to changes in the conveyor belt's motion state and provides an accurate and real-time data foundation for dynamic displacement prediction.

[0037] Step S2: Calculate the dynamic displacement prediction index.

[0038] Because the shading mechanism requires an inherent physical time (i.e., inherent response time) from receiving the command to fully closing, the conveyor belt continues to move during this period. Therefore, to eliminate the speed-position mismatch problem, it is also necessary to calculate the distance the conveyor belt will travel during this inherent response time (expressed in pulse count), i.e., the dynamic displacement prediction index. .

[0039] The process of obtaining dynamic displacement prediction indicators is as follows: First, obtain the inherent response time of the shading mechanism.

[0040] This inherent response time is derived from the physical characteristic calibration of the actuator, representing the physical time required from the controller sending a signal to the light shield completing an effective shielding action.

[0041] Secondly, calculate the dynamic displacement prediction index.

[0042] In this embodiment, considering that the conveyor belt may have non-uniform motion (such as acceleration and deceleration) during a small period of time during the mechanism's operation, this index cannot be calculated linearly based solely on the current speed and acceleration compensation needs to be introduced.

[0043] Specifically, the dynamic displacement prediction index is determined based on the kinematic model, and its increment is composed of the product of the instantaneous pulse frequency and the natural response time, and half of the product of the rate of change of pulse frequency and the square of the natural response time.

[0044] Among them, dynamic displacement prediction index for: ; in, Let be the instantaneous pulse frequency at time t. Let be the rate of change of the pulse frequency at time t. This is the inherent response time of the shading mechanism.

[0045] The above instantaneous pulse frequency Characterizing the first-order effect of current velocity on dynamic displacement prediction indices; pulse frequency change rate Characterizes the second-order correction of the dynamic displacement prediction index by the current acceleration.

[0046] The inherent response time of the aforementioned light-shielding mechanism is a pre-calibrated physical time constant. For example, the inherent response time of a pneumatic shutter typically ranges from [value missing]. .

[0047] The above formula is based on the principles of kinematics. A dynamic displacement prediction index was constructed; the first item Characterized at a constant speed ( Under the assumption that the light-shielding mechanism operates, the number of pulses that cause the conveyor belt to move; the second term. This is a second-order correction term for unsteady processes, when the conveyor belt accelerates ( The actual distance the workpiece moves during the lag time will be farther than the uniform speed prediction, according to the dynamic displacement prediction index. The increase indicates that the system needs to respond with a greater distance in advance in order to achieve accurate prediction across the entire speed range.

[0048] Step S3: Generate a corrected trigger pulse threshold. When the real-time pulse count value reaches the trigger pulse threshold, send a closing command to the light-shielding mechanism.

[0049] In this embodiment, after calculating the dynamic displacement prediction index, it is necessary to determine the precise time (position) when the controller issues the closing command.

[0050] In this embodiment, the theoretical distance pulse number from the sensor to the actual light-falling point of the light-shielding plate is preset. That is, the theoretical target closure position is... .

[0051] To compensate for mechanical lag, control signals must be issued in advance, i.e., a feedforward prediction strategy must be adopted.

[0052] The modified trigger pulse threshold in this embodiment The calculation is as follows: ; in, For safety margin factor, The reference pulse count value, To pre-set the number of pulses for the physical distance between the sensor and the point where the light shield lands, It is a dynamic displacement prediction index.

[0053] The preferred range for the above-mentioned safety margin factor is... .

[0054] In this embodiment, the safety margin coefficient is introduced. The feedforward prediction strategy not only offsets the mechanical lag, but also adds fault tolerance space based on the theoretical target position. This ensures that the light shield can be reliably closed after the workpiece has completely left the light shielding area and before the next workpiece arrives. It prevents the light shield from closing too late or accidentally damaging the workpiece due to minor mechanical fluctuations or calculation errors, and significantly improves the operational safety and robustness of the system.

[0055] The above formula achieves closed-loop control from space to time and back to space. Since the closing of the light-shielding plate takes time, the control signal must be issued in advance. This relates to the dynamic displacement prediction index. The larger the distance (i.e., the faster the speed or the longer the lag time), the more it needs to be calculated from the total physical distance. The more pulses are deducted, the more the corrected trigger pulse threshold will be affected. The dynamic shrinkage means that the trigger point moves upward towards the sensor in space, thereby offsetting the physical lag displacement caused by high speed.

[0056] In this embodiment, after obtaining the corrected trigger pulse threshold, the controller compares the current cumulative pulse value of the encoder in real time to control the light-shielding mechanism.

[0057] Specifically, when the real-time pulse count value At that time, the controller immediately sends a closing command to the light-shielding mechanism.

[0058] At this point, although the shading mechanism has not yet activated, the inherent response time has elapsed. After a certain period of time, when the light-shielding plate completes its closing action, the end of the workpiece has just moved by the dynamic displacement prediction index. The corresponding distance enables precise synchronization in physical location, achieving a perfect match between speed and position.

[0059] Furthermore, this embodiment also takes into account factors such as mechanical wear and air pressure fluctuations that may cause actual inherent response time. Drift occurs, so a closed-loop correction mechanism is also introduced, the specific process of which is as follows: First, obtain the encoder pulse value when the light-blocking mechanism actually completes the closing action, and record it as the actual position. .

[0060] Secondly, compare the actual location with the theoretical target location ( The size of ) if If the actual closing position is ahead of schedule, it indicates that the action is too fast or the prediction is too large. In the next cycle, the inherent response time will be fine-tuned to reduce it. ;like If the actual closing position is delayed at this point, it indicates that the action is too slow or the prediction is insufficient. In this case, the inherent response time will be fine-tuned and increased in the next cycle. .

[0061] By adjusting the inherent response time, the shading control can maintain high precision over a long period of time.

[0062] like Figure 2 As shown, this is an example of a real-time monitoring graph of a triggering system based on pulse counting. The graph records the cumulative pulse value over time. Between 4.5 and 5 seconds, the pulse growth is slow, while after 5 seconds, the slope becomes significantly larger and tends to stabilize, indicating that the pulse generation rate increases and remains constant at this time. When the pulse exceeds the corrected trigger threshold, the cumulative pulse count reaches the preset level of approximately 5050 at 6.54 seconds, and the system is officially triggered.

[0063] Therefore, compared with the existing traditional static control, the solution of the present invention can calculate the dynamic increment in real time and automatically advance the trigger threshold by the corresponding number of pulses. Regardless of whether the conveyor belt is accelerating, decelerating or at a constant speed, the system can ensure that the light shielding plate closes precisely the moment the workpiece leaves the light shielding area, thus achieving a dual improvement in energy saving and process quality.

[0064] In summary, the solution of this invention, by introducing a dynamic displacement prediction index that includes an acceleration term, can convert the fixed physical time lag of the actuator into a dynamic pulse compensation quantity that varies with the conveyor belt speed and acceleration in real time. Regardless of whether the production line is in low-speed debugging, high-speed production, or in the transition phase between speed increases and decreases, the landing point of the light-shielding plate is always precisely locked at the edge of the workpiece gap, effectively preventing rear-end collisions or light leakage caused by speed changes. Simultaneously, it avoids heat accumulation in ineffective areas caused by delayed closure, making it particularly suitable for precision manufacturing scenarios with extremely high requirements for heat sensitivity or edge curing.

[0065] This invention also provides an automatic shading control system for UV furnaces based on process parameter linkage. For example... Figure 3 As shown, the system includes a processor and a memory. The memory stores computer program instructions. When the computer program instructions are executed by the processor, the automatic shading control method for UV furnace based on process parameter linkage according to the present invention is implemented.

[0066] The system also includes other components well known to those skilled in the art, such as communication buses and communication interfaces, the settings and functions of which are known in the art and therefore will not be described in detail here.

[0067] In this invention, the aforementioned memory can be any tangible medium containing or storing a program that can be used or combined with an instruction execution system, apparatus, or device. For example, a computer-readable storage medium can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc., or any other medium that can be used to store desired information and can be accessed by an application, module, or both. Any such computer storage medium can be part of a device or accessible to or connected to a device. Any application or module described in this invention can be implemented by computer-readable / executable instructions stored or otherwise maintained on such a computer-readable medium.

[0068] In the description of this specification, "multiple" means at least two, such as two, three or more, etc., unless otherwise expressly and specifically defined.

[0069] While various embodiments of the invention have been shown and described in this specification, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention.

Claims

1. An automatic shading control method for a UV furnace based on process parameter linkage, characterized in that, The method includes: Obtain the reference pulse count value at the end of the workpiece on the conveyor belt; Obtain the instantaneous pulse frequency related to the conveyor belt speed, and the pulse frequency change rate related to acceleration; Calculate the dynamic displacement prediction index, which is determined by the instantaneous pulse frequency and the rate of change of pulse frequency based on the kinematic model; A corrected trigger pulse threshold is generated, wherein the trigger pulse threshold is equal to the sum of the reference pulse count value and the set number of pulses representing the physical distance from the sensor to the landing point of the light shield, minus the dynamic displacement prediction index. When the real-time pulse count value reaches the trigger pulse threshold, a closing command is sent to the light-shielding mechanism.

2. The automatic shading control method for a UV furnace based on process parameter linkage according to claim 1, characterized in that, The dynamic displacement prediction index The calculation method is as follows: ； in, The instantaneous pulse frequency; The rate of change of the pulse frequency; The inherent response time of the light-shielding mechanism.

3. The automatic shading control method for a UV furnace based on process parameter linkage according to claim 1 or 2, characterized in that, The corrected trigger pulse threshold The calculation method is as follows: ； in, The reference pulse count value; The number of pulses for the physical distance; The dynamic displacement prediction index; It is a safety margin factor with a value between 1.0 and 1.

05.

4. The automatic shading control method for a UV furnace based on process parameter linkage according to claim 1, characterized in that, Obtaining the instantaneous pulse frequency and the rate of change of pulse frequency includes: The encoder's pulse signal is differentially processed within a set time window to obtain the instantaneous pulse frequency; multiple consecutive instantaneous pulse frequencies are differentially processed to obtain the pulse frequency change rate.

5. The automatic shading control method for a UV furnace based on process parameter linkage according to claim 1, characterized in that, The method further includes: Measure the pulse count value corresponding to the actual position after the light-shielding mechanism is closed; calculate the deviation between the actual position and the target position, where the target position is the sum of the reference pulse count value and the physical distance pulse count; Based on the aforementioned deviation, the inherent response time is self-corrected.

6. The automatic shading control method for a UV furnace based on process parameter linkage according to claim 1, characterized in that, The self-calibration includes: If the actual closing position leads the target closing position in the conveying direction, the mechanical response time is reduced; If the actual closing position lags behind the target closing position in the transmission direction, the mechanical response time is increased.

7. The automatic shading control method for a UV furnace based on process parameter linkage according to claim 1, characterized in that, Obtaining the reference pulse count value includes: A photoelectric sensor is installed at the entrance of the UV furnace; when the photoelectric sensor detects the end of the workpiece passing by, the current pulse count value of the encoder is recorded as the reference pulse count value.

8. The automatic shading control method for a UV furnace based on process parameter linkage according to claim 1, characterized in that, The inherent response time of the light-shielding mechanism is a pre-calibrated physical time constant, representing the time required from the controller issuing a closing command to the light-shielding mechanism completing an effective shading action.

9. The automatic shading control method for a UV furnace based on process parameter linkage according to claim 1, characterized in that, The light-blocking mechanism is a pneumatic shutter or an electric gate mechanism.

10. An automatic shading control system for a UV furnace based on process parameter linkage, characterized in that, include: processor; The memory stores computer instructions for automatic shading control of a UV furnace based on process parameters, which, when executed by the processor, cause the system to perform the automatic shading control method for a UV furnace based on process parameters according to any one of claims 1-9.

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