47 results about "Active stabilization" patented technology

The invention provides a ship active stabilization control method and system, and relates to the field of ships. The ship active stabilization control system comprises a stabilization execution mechanism which comprises an upper platform constructed according to a ship body of a ship and a lower platform constructed according to multiple sets of water pressing plate execution mechanisms, and the multiple sets of water pressing plate execution mechanisms are arranged at any positions below waterlines of the two sides of the ship correspondingly; each water pressing plate executing mechanism comprises a water pressing plate assembly and a driving cylinder connected with the water pressing plate assembly; the data acquisition unit is configured to acquire ship body attitude and motion state information and environment data of the ship; the stabilization controller is configured to calculate and generate correction torque according to the parallel robot kinematic mechanics mechanism model, the ship posture and motion state information and the environment data, and distribute the correction torque to an execution instruction corresponding to each driving cylinder; and the driving cylinders drive the corresponding water pressing plate assemblies to execute water pressing movement or return movement according to the execution instructions.

Aspects of the present disclosure describe techniques that involve an active stabilization of coherent controllers using nearby qubits. In an aspect, a quantum information processing (QIP) system for stabilizing phase damping in qubits is described that provides a first and a second qubit ion, measuring magnetic field fluctuations using the second qubit ion, and generates one or more magnetic fields based on the measured magnetic field fluctuations, the one or more magnetic fields being applied near the first qubit ion to cancel the magnetic field fluctuations to stabilize the phase damping of the first qubit ion. Another such QIP system performs provides a first and a second qubit ion, locks a local oscillator to a frequency reference associated with the second qubit ion, and tracks, using the local oscillator, a frequency of the first qubit ion based on the frequency reference. Methods associated with these QIP systems are also described.

A control method, control apparatus and control system for an active stabilizer bar of a vehicle, and an electronic device, a vehicle and a computer-readable storage medium. The control method for an active stabilizer bar of a vehicle comprises: acquiring a sensor signal and a vehicle CAN signal of a vehicle; on the basis of the acquired sensor signal and vehicle CAN signal of the vehicle, estimating vehicle kinematic-state parameters, so as to obtain physical parameters that reflect a vehicle kinematic state; on the basis of the physical parameters that reflect the vehicle kinematic state, performing anti-roll moment decision-making, so as to obtain a desired anti-roll moment for the vehicle in the current state; and on the basis of the desired anti-roll moment for the vehicle in the current state, generating a torque control instruction corresponding to an active stabilizer bar configured for the vehicle, such that the active stabilizer bar outputs, on the basis of the torque control instruction, a reverse torque for preventing the vehicle from rolling. The requirement for anti-roll control of an active stabilizer bar can be met, thereby improving the vehicle operation stability and safety.

The invention belongs to the field of ship control, and provides a self-adaptive active stabilization method and system for a ship. The ship is configured to be provided with a plurality of water pressing plate executing mechanisms, each water pressing plate executing mechanism comprises a water pressing plate assembly and an executor connected with the water pressing plate assembly, and the method comprises the following steps that ship body attitude information of the ship is obtained; calculating a target moment according to the hull attitude information; generating an execution instruction corresponding to each actuator according to the target torque; and the executor responds to the execution instruction so as to drive the connected water pressing plate assembly to execute water pressing movement. According to the self-adaptive active stabilization method and system for the ship, the ship can be effectively controlled to reduce shaking, and the navigation stability, comfort and safety of the ship are improved.

The application discloses a kind of amphibious equipment measuring hydrologic flow method, it is related to hydrologic flow monitoring field, including using bottom as hull, top installation multi-rotor amphibious platform, integration ADCP, GNSS / IMU, environmental sensor etc., by real-time sensing water flow, wave, wind and ship attitude, with the aid of prediction model, interference trend and threat level are predicted in advance.Adopt active stabilization control algorithm, dynamically coordinate and distribute the power output of underwater propeller and air rotor, suppress ship movement to the measurement allowable error range, its core lies in intelligent switching operation mode: in low water, rely on underwater power contact measurement;High water or flood, lift off and use GNSS positioning to carry out non-contact type hovering measurement, completely solve the traditional cableway flow measurement easy broken, sailing ADCP in torrent easy out of control failure industry problem, realize full range, high precision, full-automatic hydrologic flow online monitoring, provide reliable technical means for flood control and disaster mitigation and water resources management.

The present invention relates to an AI posture correction system for customized spinal care and may comprise: a smart seat (100) including a frame unit (110) configured to, when pressure is received from a body, continuously apply upward and inward compression forces for active stabilization support, a cushion unit (120) including a cushioning member such that compression resistance is generated when in direct contact with the body, a sensor unit (130) positioned between the cushion unit (120) and the frame unit (110) and having a plurality of pressure sensors distributed in a pressure region that receives pressure from the body, and a control unit (140) that transmits, to a computing apparatus (200), pressure data sensed by the sensor unit (130); and a computing apparatus (200) that calculates, on the basis of the pressure data, a first center point that is a center point of pressure, calculates a difference value between the first center point and a second center point that is a center point of the pressure region, recognizes a posture pattern on the basis of the difference value, and outputs an AI-customized operation related to posture correction from the posture pattern.

The present invention discloses a system and method for improving a vehicle's crosswind resistance through an active stabilizer bar. The adaptive cruise control system is used to measure the longitudinal distance, lateral distance, relative speed, and real-time speed of the vehicle and the oncoming vehicle, and calculate the time of meeting based on the relative speed and longitudinal distance between the vehicle and the oncoming vehicle; calculate the time period of meeting based on the real-time speed of the vehicle and the relative speed between the vehicle and the oncoming vehicle; calculate the torsional torque value required for the stabilizer bar during the meeting based on the relative speed, lateral distance, and maximum speed of the vehicle and the oncoming vehicle; and control the torsional torque of the stabilizer bar during the meeting process based on the meeting time, meeting time, and required torsional torque value. The present invention can automatically measure the meeting time and relative speed, adjust the relative position of the active stabilizer bar in advance, and increase the torsional stiffness preload to reduce the interference of crosswind on vehicle body roll during the meeting.

The application discloses a cutter head repairing method in a tunneling process of a shield machine, and belongs to the technical field of shield construction, and solves the problems that an existing method does not construct an active stability system for a working face and a soil bin environment, and lacks accurate detection and regulation means for large-scale poses of a cutter head, the method comprising the following steps: dividing a shield soil bin and a working face area into multiple operation layers, layer-by-layer cleaning of the working face and grading fixation of the cutter head, synchronous control of multiple horizontal displacement oil cylinders for adjusting the pose of the cutter head by a hydraulic pump station, taking out broken wires by using a welding auxiliary pulling or a counterbore tapping process, resuming tunneling after completing a main drive pressure maintaining test and cutter head operation verification, and in-situ repairing of the shield machine after a major structural failure such as cutter head falling in a tunneling process, without the need of withdrawing the shield machine from the tunnel or adding a ground vertical shaft, and meanwhile, secondary disturbance to surrounding strata is avoided, thereby providing systematic technical support for safe and continuous pushing of shield construction under complex geological conditions.

The invention discloses a sea-crossing cluster assembly type bridge rapid assembly device, and relates to the technical field of bridge construction, the sea-crossing cluster assembly type bridge rapid assembly device comprises a supporting and walking mechanism, and the supporting and walking mechanism comprises a supporting frame and supporting beams arranged on the two sides of the supporting frame; the hoisting mechanism is located in the supporting frame, can move transversely and is used for hoisting and transversely conveying the bridge prefabricated part; the at least one pair of retractable stabilizing mechanisms is symmetrically arranged on the supporting beam and is used for downwards extending out and being inserted into the ground to stabilize the whole equipment during hoisting operation; and a first hydraulic rod, a sliding frame, an inserting plate, a limiting sliding block and a limiting hole are arranged to be matched with one another, and the active stabilizing function of the equipment is achieved. The first hydraulic rod pushes the inserting plate to move downwards along the sliding frame, meanwhile, the limiting sliding block on the inserting plate slides and guides in the limiting hole of the supporting frame, it is ensured that the inserting plate is perpendicularly inserted into the ground, and the effect of firmly anchoring the equipment on the foundation is achieved.

The invention discloses a quick-response universal flexible auxiliary towing device which is applied to a floating fan towing system, the towing system comprises a floating fan foundation, a floating fan and a towing boat, the fan foundation comprises a plurality of wind power foundation piles, and the adjacent wind power foundation piles are fixedly connected through connecting rods. Through closed-loop control of real-time monitoring of the attitude sensing assembly, accurate instructions of the control system and dynamic adjustment of the power assembly, technical spanning from passive assistance to active stabilization is achieved, attitude changes caused by wind waves and flows can be quickly responded, targeted restoring force is provided, the risk that a floating type draught fan foundation drastically deflects and overturns is effectively avoided, and the service life of the floating type draught fan foundation is prolonged. Ballasting adjustment does not need to be carried out at a machine location point, and the construction difficulty is remarkably reduced.

This invention discloses a semi-passive gait control method and system for bipedal robots based on adaptive Hopf-CPG, relating to the field of robotics. The method includes the following steps: establishing a dynamic model of the bipedal robot with knee joints; optimizing key structural parameters of the robot based on the dynamic model; constructing an adaptive Hopf-CPG network; introducing an adaptive mechanism, including frequency adaptation, amplitude adaptation, and phase adaptation; and fusing the adaptive Hopf-CPG network with semi-passive gait control, dynamically adjusting the active adjustment ratio of the CPG network according to the robot's walking environment to achieve a balance between passive energy saving and active stability. Compared with existing technologies, this method significantly improves motion stability, enhances anti-disturbance capabilities, reduces energy consumption, improves endurance, and exhibits strong environmental adaptability, eliminating the need for manual parameter adjustment.

The invention belongs to the technical field of nondestructive testing, and discloses a nondestructive testing method for X-ray equipment carried by an unmanned aerial vehicle, which comprises the following steps of: fixing an X-ray transmitting module and an X-ray receiving module on a load cabin of the unmanned aerial vehicle through a damping shock absorption bracket; the damping coefficient of the damping bracket is preset according to the weight of the X-ray equipment and the maximum vibration frequency of the unmanned aerial vehicle, and meanwhile, a three-axis gyroscope and an air pressure sensor are mounted at key parts of a fuselage of the unmanned aerial vehicle. Through a multi-layer stable control system of the damping shock absorption support, the three-axis gyroscope and the air pressure sensor, flying vibration of the unmanned aerial vehicle can be actively absorbed, environment air pressure changes can be dynamically adapted, the vibration amplitude of the vehicle body is controlled within + / -0.5 degrees, the attitude adjustment response time is smaller than or equal to 0.3 s, and the unmanned aerial vehicle can be stably controlled. The problem of detection offset caused by fixed and simple equipment and no active stabilization mechanism in the existing method is solved, the stability of the detection process is remarkably improved, and the data distortion rate is reduced.

This invention relates to a counterweight attitude adjustment device, an aircraft attitude control system, and a control method thereof, comprising a track module, a counterweight slider module, a motor drive module, a battery module, a limiting structure, and a guide rail. The counterweight slider module can slide at high speed within the track, releasing angular kinetic energy by impacting the limiting structures at both ends of the track to correct aircraft attitude deviations. The motor drive module is powered by the battery, supporting energy recovery during the sliding process to form a closed-loop power supply system. The counterweight slider module is slidably connected to the guide rail to suppress deflection and maintain sliding stability. The limiting structure employs a combination of buffer and energy-absorbing structures to ensure efficient energy transfer and prevent structural fatigue. This invention further proposes a formula combining the attitude deviation angle and the aircraft's rotational inertia to solve for the impact velocity, achieving precise control of the attitude adjustment force. The proposed solution has advantages such as compact structure, rapid response, and strong modular versatility, and is suitable for active stabilization control of high-dynamic flight platforms such as rockets and spacecraft.

The invention relates to the technical field of automobile steering control and transverse stabilizer bar control, in particular to a steer-by-wire and active stabilizer bar integrated dual-motor redundant system and a control method. According to the technical scheme, the steer-by-wire and active stabilizer bar integrated dual-motor redundant system comprises a steer-by-wire device, an active stabilizer bar device, a second clutch, a controller, a first power source and a second power source; the steer-by-wire device is in signal connection with the controller; the active stabilizer bar device is connected with the steer-by-wire device through a second clutch; the controller is in signal connection with the active stabilizer bar device; the first power supply is electrically connected with the steer-by-wire device and the controller; the second power source is electrically connected with the active stabilizer bar device and the controller. The high reliability of the steer-by-wire system is guaranteed, meanwhile, the cost and size problems caused by additionally adding a special redundant motor are avoided, and the technical problem of how to provide 100% steering torque when a down-rotating motor fails is solved.

The invention discloses an active stabilization and power generation system of a floating type fan and a cooperative control method. The system comprises an inerter power generation subsystem and a hydraulic load regulation power generation subsystem. The inerter power generation subsystem comprises an inerter power generator, a damper sleeve and a disc. The inerter power generator comprises a power generator shell, a stator, a rotor and a ball screw. One end of the ball screw is used for being connected with a mooring cable, and the other end of the ball screw is connected with the disc which is slidably arranged in the damper sleeve. The hydraulic load regulation power generation subsystem comprises a pipeline assembly, a hydraulic generator and a piston type hydraulic cylinder, the piston type hydraulic cylinder is connected between the bottom of the damper sleeve and the disc, and the pipeline assembly can selectively control whether hydraulic oil flows through the hydraulic generator to do work or not. Based on the principle of a hydraulic load-adjusting power generation subsystem and a mass inerter, efficient absorption of motion energy under different working conditions can be achieved, the comprehensive power generation capacity is improved, and the method belongs to the technical field of wind power generation and vibration reduction.

The invention discloses a handling frame used in a large-diameter pipeline, and relates to the field of handling frames, the handling frame comprises a plurality of supporting rings which are connected with one another, rolling seats are installed on the top side and the bottom side of each supporting ring, two crane guide rails are installed on the supporting rings, a plurality of crane trolleys are installed on the crane guide rails, and the crane trolleys are connected with the rolling seats. The crane trolley is connected with a lifting hook; the device further comprises a lifting active stabilizing device and a positioning stabilizing device. It needs to be explained that in the embodiment of the invention, after the equipment is lifted, the bottom side of the equipment is supported by rotating and lifting the lifting stabilizing frame, and the stability of the equipment during installation is guaranteed; when the pushing bracket moves, the transverse push-pull frame drives the transverse insertion stabilizing frame to be inserted on the lifting hook, so that the lifting hook is limited by the transverse insertion stabilizing frame after being lifted, and the lifting stability is further ensured; in addition, when the equipment falls, the equipment is supported through the two mutually-locked follow-up rotating seats, and the problem that the equipment directly falls to smash the pipeline is avoided.

Embodiments are described for a stabilization system configured, in some embodiments, for stabilizing image capture from an aerial vehicle (e.g., a UAV). According to some embodiments, the stabilization systems employs both active and passive stabilization means. A passive stabilization assembly includes a counter-balanced suspension system that includes an elongated arm that extends into and is coupled to the body of a vehicle. The counter-balanced suspension system passively stabilizes a mounted device such as an image capture device to counter motion of the UAV while in use. In some embodiment the counter-balanced suspension system passively stabilizes a mounted image capture assembly that includes active stabilization means (e.g., a motorized gimbal and / or electronic image stabilization). In some embodiments, the active and passive stabilization means operate together to effectively stabilize a mounted image capture device to counter a wide range of motion characteristics.

The utility model discloses an active stabilizer bar, a suspension system and a vehicle. The active stabilizer bar comprises an outer cylinder, a fixing piece, a transmission piece and a sensor assembly, and a containing cavity and a mounting opening which communicate with each other are defined by the outer cylinder. And the fixing piece is positioned at the mounting opening and is connected with the outer cylinder. The transmission part is connected to the side, facing the containing cavity, of the fixing part. The sensor assembly is located in the containing cavity and connected to the end, away from the fixing piece, of the transmission piece. Through the design of the active stabilizer bar, the tiny strain of the fixing piece can be directly transmitted to the sensor assembly, and compared with a traditional scheme of utilizing magnet magnetic induction, the scheme can remarkably improve the measurement precision and the response speed of the active stabilizer bar and reduce feedback lag of the active stabilizer bar. According to the scheme, the structural strength of the active stabilizer bar can be improved, and the stability, comfort and controllability of the vehicle in the running process are ensured.

A mobility device that can accommodate speed sensitive steering, adaptive speed control, a wide weight range of users, an abrupt change in weight, traction control, active stabilization that can affect the acceleration range of the mobility device and minimize back falls, and enhanced redundancy that can affect the reliability and safety of the mobility device.

The invention relates to the field of vehicle control, in particular to a feedforward control method, device and equipment of an active stabilizer bar and a medium. Firstly, the steering degree is calculated based on the vehicle driving dynamic parameters, and the actual steering state of the vehicle is accurately obtained. Then, whether feedforward control is triggered or not is determined according to the steering degree, and pertinence and timeliness of control are achieved. After triggering, steering characteristics are determined, basic control torque is obtained, and the torque is calculated based on the steering degree and fits the actual working condition. And finally, the feed-forward adjustment amount is determined by integrating the basic control torque, the original torque distribution coefficient and the distribution coefficient corresponding to the steering degree. Therefore, a complete and accurate control logic is formed, various factors during vehicle steering are fully considered from dynamic parameter acquisition to final feedforward adjustment amount determination, the active stabilizer bar can be accurately adjusted in real time according to the vehicle steering working condition, the problems that in the prior art, a complete and accurate scheme is lacked, and real-time accurate response is difficult are solved, and the driving stabilizer bar can be accurately adjusted in real time. And the driving stability and controllability of the vehicle are improved.

The invention provides an automatic control method and device for a hydraulic support, and relates to the technical field of hydraulic control. The method comprises the following steps: obtaining a support quality evaluation index according to a pre-constructed hydraulic support moment model; if it is determined that the stable supporting degree is within the preset numerical value interval, a control target is determined according to a first comparison result between the supporting eccentricity and a preset supporting eccentricity threshold value, automatic control is conducted in a corresponding control mode, and automatic control is conducted in a corresponding control mode according to a second comparison result between the parallelism and a preset parallelism threshold value. And a control target is determined, and a corresponding control mode is adopted for automatic control. According to the automatic control method and device of the hydraulic support, self-adaptive adjustment and active stability control of the support can be achieved.

The invention belongs to the technical field of vehicle safety control, and particularly relates to a container truck rollover prevention active stabilizing structure which comprises a posture sensing module, a dynamic prediction module and an active intervention module which are in signal connection. The active intervention module comprises at least one pair of transversely telescopic actuators, the actuators are arranged on the two sides of the frame respectively, one end of each actuator is hinged to the frame, and the other end of each actuator is hinged to a container bottom beam; the actuator generates a stabilizing moment for resisting the rolling of the vehicle based on an instruction of the dynamic prediction module; the posture sensing module comprises sensors arranged on a frame, and the sensors are in signal connection with the dynamic prediction module; the dynamic prediction module adopts an MPC algorithm, predicts the rolling state of the vehicle in the future 500 ms in a rolling mode within the period of 50 ms, outputs a rollover risk index and sends out a signal to control the active intervention module. Compared with the prior art, the method can achieve the effects of predicting the rolling state of the vehicle after 500ms in advance and implementing active stable control in the optimal intervention window.

The invention belongs to the technical field of port machinery automation control, and particularly relates to a remote control system for a container tire crane. Comprising a remote operation terminal, a communication transmission module, a central cooperative controller, a wind load sensing module, a structure dynamic response sensing module, a coupling modeling engine, an active stability instruction generation module and a hydraulic servo execution mechanism. Through deep fusion of environment wind load sensing and structure inertia response sensing, a complete closed-loop active stable architecture is constructed, and the architecture adopts a physically quantized dynamic model driving control strategy, so that source suppression of wind-induced resonance is realized, and the stability of the system is improved. According to the system, the combined swing amplitude of the tail end of the suspension arm and the container can be remarkably reduced under the strong wind working condition, the positioning precision and the operation continuity are remarkably improved, meanwhile, safe shutdown caused by oscillation overrun is avoided, and the technical requirement for all-weather efficient operation of a port is met.

The invention relates to the technical field of electronic equipment installation, in particular to a gradienter tripod with an active stabilizing function, which comprises a main bracket, three turnover bottom supporting legs are movably assembled at the lower end of the main bracket, and a drawable end connector is arranged at the upper end of the main bracket. According to the gradienter tripod with the active stabilization function, a built-in stabilization monitoring module is installed in the main support and located above the turnover bottom supporting legs, the posture of the main support can be automatically monitored after the main support is placed, and therefore the state of the tripod is known in real time, and the monitoring value is more accurate; the main control type pneumatic stability adjusting module is integrally installed in the built-in stability monitoring module, and the overturning angle and length of the overturning type bottom supporting leg can be actively controlled according to the monitored state, so that the posture of the tripod is rapidly corrected according to the monitoring result, and the active stability adjusting function is achieved.

The invention discloses a liver active stabilization and deformation control device in a laparoscopic surgery. A double-finger executing mechanism of the device comprises two flexible finger-shaped bodies capable of being independently driven, and the two flexible finger-shaped bodies are folded to penetrate through a Trocar hole and then are bent and unfolded at any angle in the laparoscopic surgery so as to conduct multi-point lossless negative pressure adsorption stabilization on the liver surface. The root ends of the two flexible finger-shaped bodies are installed at the tail end of the handheld control mechanism, the two flexible finger-shaped bodies are controlled to be folded and unfolded through the handheld control mechanism, and the two flexible finger-shaped bodies are controlled to stabilize the liver after negative pressure adsorption is stable. The drive control mechanism is installed outside the handheld control mechanism and used for controlling adsorption and position adjustment of the two flexible finger-shaped bodies. The problem that the operation space of a traditional instrument is limited is solved, the target liver segment can be actively and adaptively stabilized, a stable operation platform is established for high-precision puncture, and the device is suitable for precise puncture operations such as liver cancer ablation and liver biopsy.

The 360-degree rotating gripper with the weighing function comprises a mechanical sliding arm, the surface of the mechanical sliding arm is slidably connected with a weighing component, the bearing end of the weighing component is connected with a steel cable capable of being electrically retracted and released, and the end, away from the weighing component, of the steel cable is fixedly connected with a gripper assembly. The steel cable can carry the gripper assembly to grab an object and synchronously retract and move, and when the gripper assembly carries the object to break away from the ground, the steel cable can be used for applying pulling force to the weighing component, and the weighing component is used for measuring the weight. The gripper assembly is extruded and positioned through the swingable positioning plate which is an active stabilizing measure, after an object is lifted and before the robot starts to move, the transmission structure can drive the positioning plate to clamp the gripper assembly, the swing phenomenon of a steel cable and the gripper assembly in the carrying process is remarkably reduced or even eliminated, and the safety of the robot is improved. The safety and stability of operation are improved, the whole structure provides possibility for 360-degree rotation of the gripper assembly, and meanwhile the stability in the rotating and moving process is guaranteed.

Method for actively stabilizing the roll of a vehicle by means of a roll stabilizer (30), wherein the roll stabilizer (30) comprises a stabilizer bar (32), a stabilizer housing (34) and a stabilizer motor (36) arranged in the stabilizer housing (34), such that the stabilizer bar (32) is connected at a first end to a wheel of the vehicle and is rotatably mounted at a second end by means of the stabilizer motor (36), the method comprising: - Obtaining an initial setpoint value of a rod torque of the stabilizer bar (32); - Obtaining a second setpoint of a motor rotation angle of the stabilizer motor (36); - Limiting the second setpoint based on an absolute value and / or a gradient of the first setpoint; - Inputting the second setpoint into a control loop (20) as a reference variable.

Vehicle travel control device comprising: a drive device (20) which drives at least one main drive wheel from the main drive wheel and a subordinate drive wheel of a vehicle (1); a first active stabilizer (60; 50) installed on one side of the main drive wheel; a second active stabilizer (50; 60) installed on one side of the subordinate drive wheel; and a control device (100) which performs a load distribution control when an actual driving force difference between a left side and a right side of the vehicle (1) during acceleration exceeds a threshold value, where a high-µ side is the one from the left side and the right side with a larger actual driving force, and a low-µ side is the other from the left side and the right side, wherein the load distribution control includes a first mode which is performed when a speed (Vx) of the vehicle (1) is less than or equal to a first reference value (Vx_Th1), wherein in the first mode, the control device (100) actuates the first active stabilizer (60; 50) in a direction to raise the high-µ side and actuates the second active stabilizer (50; 60) in a direction to raise the low-µ side, wherein the load distribution control further includes a second mode which is performed when the speed (Vx) is greater than a second reference value (Vx_Th2) which is greater than or equal to the first reference value (Vx_Th1), and wherein in the second mode, the control device (100) actuates the first active stabilizer (60; 50) in a direction to raise the low-µ side and actuates the second active stabilizer (50; 60) in a direction to raise the high-µ side.