450 results about "Bidirectional communication" patented technology

The invention discloses a municipal road intelligent construction and collaborative management method based on digital twinning, and belongs to the field of digital twinning, and the method comprises the steps: S1, building a unified data twinning body composed of BIM, construction monitoring, environment and equipment data; s2, real-time synchronization of the virtual model and the entity is realized through time sequence mapping; s3, performing full-period control by adopting a multi-agent collaborative optimization algorithm; s4, embedding a risk evolution prediction model to carry out structure and material risk assessment; s5, multi-work-type tasks are distributed based on scene hierarchy; s6, progress self-checking and closed-loop control are achieved through two-way communication; s7, performing multi-stage data fusion to realize model consistency updating; s8, establishing a full life cycle carbon emission and energy consumption evaluation system; and S9, outputting a comprehensive decision report, and realizing integrated management of planning, construction and operation and maintenance. The method has the beneficial effects of improving construction efficiency and decision-making precision.

The embodiment of the invention provides an Internet of Things control system and method, electronic equipment, a storage medium and a program product, and relates to the technical field of industrial Internet of Things. The system comprises a connection management module used for establishing and maintaining connections between a plurality of Internet of Things devices and a plurality of MQTT servers corresponding to the Internet of Things devices; the dynamic equipment mapping module is used for mapping the data of the Internet of Things equipment to the MQTT server through the configuration file; and the message queue and network disconnection continuous transmission module is used for putting the message into the tail of the message queue to continuously transmit the message if the MQTT client instance corresponding to the Internet of Things equipment is detected to be in a network disconnection state when the message is published to the MQTT server. According to the scheme, dynamic expansion of heterogeneous equipment in the industrial Internet of Things, parallel butt joint of multiple cloud platforms, network disconnection continuous transmission and two-way communication capability are realized.

The invention discloses a truss robot rehearsal control method based on digital twinning, and the method comprises the following steps: S1, constructing a truss robot digital twinning system, including constructing a truss robot virtual scene and constraint, performing data synchronization and bidirectional communication, and configuring a safety rule base and a data recording / playback interface at a twinning end; s2, rehearsing a task to be executed, generating a reference trajectory and a constraint set, and automatically checking the rehearsing process according to the safety rule base to obtain the reference trajectory and the constraint set which pass the rehearsing; and S3, performing parameterized predictive control and real-time tracking on the rehearsed reference trajectory and the constraint set, and controlling a trajectory tracking error to be within a tolerance range. According to the method, a digital twin system corresponding to the physical world is constructed, Laguerre function parameterized model predictive control is introduced to realize low-dimensional rapid solution, high-precision, reproducible and high-reliability rehearsal control of the truss robot is realized, and the field debugging and operation and maintenance cost is remarkably reduced.

The invention relates to a laser automatic frequency locking control system and method based on cold atom feedback and a matched spectrum, the system comprises a laser module, a spectrum module, a photoelectric detector, a modulation-demodulation module, a digital PID controller and a data acquisition and operation platform, and the output end of the laser is connected with the spectrum module; the detection light output by the spectrum module enters the modulation-demodulation module after passing through the photoelectric detector; an output signal of the modulation-demodulation module enters a digital PID controller, and the digital PID controller is connected with a laser for frequency scanning control and is in two-way communication with a data acquisition and operation platform through a data interface; the data acquisition and operation platform comprises a cross-correlation algorithm processing module, a frequency control logic module, a cold atom feedback processing module and an abnormity management module, and is used for calculating, feeding back, controlling and monitoring the system operation state in real time and completing the automatic frequency locking process. According to the invention, the accuracy of frequency locking point identification and the frequency locking efficiency are improved; and automatic relocking can be achieved, and long-term stable frequency locking operation is guaranteed.

The invention relates to the technical field of hybrid power buses, and discloses a global energy-based management system and control method for a hybrid power bus, and the system comprises a cloud global energy management system and a vehicle execution control system, and the cloud global energy management system and the vehicle execution control system carry out bidirectional communication through a communication protocol. The cloud global energy management system comprises a multi-source data acquisition and fusion module, a global SOC track optimization module and an energy distribution strategy generation module; the vehicle execution control system comprises a sensing layer, a decision-making layer and an execution layer. The SOC track and power distribution are globally optimized through the cloud, so that the time proportion of the engine working in the efficient interval is increased by 15%-20%, and the comprehensive fuel saving rate can reach 8%-12%.

The invention relates to an Imaging sensor device in a stacked arrangement comprising:a pixel array tier comprising a plurality of pixel segments each having a plurality of pixels for photon detection each providing a digital pixel output;a processing tier comprising a number of processing cores each associated with one of the plurality of pixel segments to receive the pixel outputs of the pixels of the respective pixel segment, wherein the processing cores are each in bidirectional communication with one or more neighboring processing cores,wherein the processing cores are each configured to receive pixel outputs of the pixels of the associated pixel segments and to distribute processing of pixel outputs between the processing core and the at least one of the neighboring processing cores as neighboring processing cores.

The invention provides a vehicle window dimming and sound field linkage vehicle privacy protection system and method.The system comprises environment perception, passenger state recognition, a privacy decision engine, an actuator set and a user interaction interface, and the perception data output end of an environment perception and passenger state recognition module is connected to the input end of the privacy decision engine; the control instruction output end of the privacy decision engine is connected with the actuator group, and the user interaction interface is in two-way communication with the privacy decision engine; the environment sensing module obtains the position and the external environment of a vehicle, the passenger state recognition module monitors the state of persons and audio in the vehicle, and the privacy decision engine outputs an instruction according to the state and drives the actuator set to achieve vehicle window partition dimming, directional acoustic masking and in-vehicle volume adjustment. The problems that a traditional vehicle privacy protection system operates independently, depends on manual operation and is incomplete in protection can be solved.

A communication system includes a target unit provided in a vehicle and including at least one target unit processor and at least one target unit memory coupled to each other; and a communication tool coupled to the target unit for bidirectional communication and including at least one communication tool processor and at least one communication tool memory coupled to each other. The communication tool processor transmits certain information including first certain data and a first padding value to the target unit. The target unit processor determines whether the first padding value matches a preset specific padding value, and transmits abnormality information to the communication tool when the first padding value does not match the specific padding value. Upon receiving the abnormality information, the communication tool processor transmits the certain information including the first certain data and a second padding value different from the first padding value to the target unit.

The invention discloses a middleware-based cloud rendering method and a middleware system, and relates to the technical field of cloud rendering, and the middleware-based cloud rendering method comprises the following steps: creating an application instance, loading the application instance to a cloud rendering platform system, and starting a three-dimensional rendering task; a three-dimensional rendering task is scheduled and allocated through a resource management and scheduling module of the cloud rendering platform system according to the resource use conditions of the load and the server; receiving a three-dimensional rendering task through middleware, and transmitting three-dimensional rendering data of the three-dimensional rendering task between a client and a Web server through a two-way communication module of the cloud rendering platform system to realize real-time communication; and under the condition that the three-dimensional rendering task is finished, waiting for a next rendering task instruction. According to the method, the resource management and operation and maintenance process in the containerized environment can be effectively optimized, and the expandability, stability and usability of the system are improved.

The invention relates to the technical field of digital storage, and provides a method and a system for recovering long-term storage failure of a mobile terminal, through the design of a built-in independent power supply, a startup disk can still supply power continuously when the mobile terminal is in a power-off state, and the limitation of traditional OTG (On-The-Go) equipment is broken through. The read-write state of the data block of the flash memory chip is automatically monitored through the storage controller, and a health report is generated in real time; and when the early warning data block is detected, a bidirectional communication protocol is triggered. In a data backup link, a boot disk adopts a hierarchical check mechanism to generate CRC codes for each data block for centralized storage, and meanwhile, an overall SHA-256 code is calculated and double-end synchronization is performed. And in the recovery stage, the backup integrity is ensured through SHA-256 code comparison, then the data accuracy is verified block by block through CRC codes, and finally, the backup file is automatically migrated to the nonvolatile partition. The seamless closed loop from fault detection to data recovery is realized aiming at the system guidance problem after long-term storage of the equipment.

An artificial intelligence-based business management system for real-time decision optimization, consisting of: a data acquisition unit configured to ingest structured, semi-structured and unstructured data streams from enterprise resource planning (ERP) systems, customer relationship management (CRM) platforms, Internet of Things (IoT) devices, external market feeds and financial transaction systems, encrypting, timestamping and verifying the data prior to further processing; a graph processing unit that is communicatively connected to the said acquisition layer, wherein the unit is configured to encode heterogeneous data into dynamic graph structures comprising nodes representing business entities and edges representing transaction or relationship dependencies, wherein the unit is further configured to perform deduplication, metadata tagging and real-time data synchronization; a decision optimization unit operationally linked to the graph processing unit, wherein the decision optimization unit includes modules for reinforcement learning, modules for Bayesian optimization and multi-objective solvers configured to simulate multiple alternative decision paths and select an optimal path based on performance indicators such as cost efficiency, resource utilization, customer satisfaction and risk minimization; a real-time inference control unit with specialized hardware cores, including at least one graphics processing unit (GPU), a field-programmable gate array (FPGA) and an application-specific integrated circuit (ASIC), wherein the accelerator performs inference tasks of the decision optimization unit with a latency in the millisecond range; a diagnostic processing unit configured to generate causal diagrams, feature mapping maps, and interpretable result summaries according to the optimization outputs; and a control interface unit configured to transmit optimized decisions to process controls within the enterprise, robot actuators, planning systems or interactive dashboards, with the interface supporting bidirectional communication for higher-level interventions, error feedback and triggers for re-optimization.

The invention relates to the technical field of fire safety, in particular to a fire operation whole-course acousto-optic identification monitoring and early warning system, which comprises front-end data acquisition equipment and rear-end data processing equipment in two-way communication with the front-end data acquisition equipment, the front-end data acquisition equipment comprises a visual information acquisition device and a sound information acquisition device and is used for acquiring a visual light source signal and a voiceprint signal of a fire operation site, encrypting the visual light source signal and the voiceprint signal and transmitting the signals to the rear-end data processing equipment; the rear-end data processing equipment comprises a feature extraction and analysis module and a platform early warning module; the feature extraction and analysis module is used for carrying out feature extraction on the received visual light source signal and voiceprint signal and carrying out fire operation danger signal identification based on extracted feature parameters; and the platform early warning module is used for determining the current risk level and carrying out risk early warning based on the fire operation danger signal identification result, so that pre-identification and timely alarm of the danger signal in the fire operation process are realized.

A stylus capable of bidirectionally communicating with a sensor controller includes a receiver that receives an uplink signal sent by the sensor controller, a controller that determines whether a signal having a predetermined waveform is to be continuously sent over a second time period or to be continuously sent over a first time period longer than the second time period, on the basis of the uplink signal, and a transmitter that continuously sends the signal having the predetermined waveform over the first time period or the second time period on the basis of the result of determination by the controller. As a result, the sensor controller can detect a burst signal from the stylus over a wide range in a sensor touch surface, to thereby reduce the possibility that the sensor controller may fail to detect the burst signal.

The invention relates to a plug-in multi-protocol industrial control system and method based on functional unit modeling. The plug-in multi-protocol industrial control system comprises a physical interface layer, a protocol packaging layer, an equipment driving layer, an abstract functional unit layer, an abstract functional module layer, a control logic layer and a configuration driving module. The physical interface layer realizes multi-platform compatibility through a unified asynchronous event interface; the protocol packaging layer integrates a protocol through a plug-in; abstracting a device behavior by a device driver layer, and dynamically binding the device behavior with a functional unit; the abstract function unit layer abstracts equipment functions into standardized function units and realizes two-way communication; the abstract function module layer combines function units into a high-level module and supports dynamic loading and unloading; the control logic layer realizes various flow control; and the configuration driving module analyzes the configuration file to realize configurable operation of the system. According to the system disclosed by the invention, the problems of difficulty in multi-protocol adaptation, poor control logic reusability and low configuration degree are solved through layered communication architecture, protocol plug-in, functional unit abstraction and event-driven mechanisms.

The invention relates to a network unified monitoring and operation and maintenance management system in a multi-cloud environment, and belongs to the technical field of cloud computing and network operation and maintenance crossing. The system is characterized in that an intelligent perception and adaptation access module performs bidirectional communication with a heterogeneous cloud platform through a dynamic protocol adaptation engine, and an edge preprocessing unit completes data primary processing and security authentication; the data processing and analysis module constructs a stream batch integrated architecture, establishes a cross-cloud unified topology model by using a knowledge graph technology, and realizes multi-dimensional data analysis through a distributed time sequence database; the strategy generation and scheduling module performs strategy pre-verification, issues an operation and maintenance instruction through a transaction consistency mechanism, and establishes a closed-loop feedback loop to continuously optimize a decision; the unified operation and maintenance portal module integrates three-dimensional topology, visualizes security situations and operation and maintenance decisions, and provides fault traceability and strategy interaction capability. According to the invention, unified monitoring, intelligent analysis and automatic operation and maintenance of a multi-cloud network environment are realized.

The invention provides a steel pipe whole-process intelligent tracking system based on multi-mode sensing fusion, and relates to the technical field of ferrous metallurgy intelligent manufacturing. The system comprises the following modules: a visual perception module, which is used for collecting the appearance characteristics, the spatial position and the motion state of a steel pipe in the whole process of steel pipe tracking; the one-by-one tracking and decision-making module is used for constructing a closed-loop work flow comprising data acquisition, fusion processing, decision-making output and feedback optimization by deeply fusing visual perception information and multi-source industrial signals; and the control interaction module is in two-way communication with the bottom PLC and an upper computer, receives equipment signals, feeds back the equipment signals to the tracking module, issues a tracking / alarming instruction to the PLC and synchronizes data to the MES. According to the method, the problems of blind areas, information chain scission and manual dependence of traditional tracking are solved, the whole process of the hot-rolled seamless steel pipes from a cooling bed area to material frame bundling through saw cutting segmentation is achieved, and one-by-one accurate tracking and quality control are achieved.

A device is described. The device comprises: a charging cable; a power conversion circuit; and a processor. The processor storing instructions in non-transitory memory that, when executed, causes the processor to: determine that a donor is connected to a recipient through the charging cable; determine an amount of first charge that a first battery pack of the donor can discharge; establish a bi-directional communication link with the recipient and obtain second charging configuration parameters of a second battery pack of the recipient; determine a charging specification to charge the second battery pack of the recipient based on the second charging configuration parameters; communicate a command to the power conversion circuit to convert a first power from the donor to a second power based on the charging specification; and transfer the second power through the charging cable as per the charging specification to charge the second battery pack of the recipient.

The invention belongs to the technical field of automobile flexible manufacturing, and particularly discloses a method and system for analyzing and issuing technological parameters in real time in automobile flexible manufacturing, and the method comprises the following steps: a customer submits required configuration orders of appearance, interior decoration and functions through an Internet of Things customization platform; the Internet of Things customization platform converts the customer order information into a standardized data format and sends the data format to a manufacturing execution system MES; and the MES system presets process basic data required by each vehicle type and configuration rules of the corresponding vehicle type, analyzes production process information of the vehicle required by a client, issues the information to the production equipment through the IOT platform, and executes the steps of collecting the state and production data of the production equipment, judging whether the production equipment works normally or not and judging whether the product quality reaches the standard or not. By adopting the technical scheme, based on a two-way communication mechanism between the MES and the IOT platform, rapid customization, accurate issuing and real-time adjustment of the process data are realized, so that the efficient production requirement of flexible manufacturing of automobiles is met.

The invention relates to the technical field of medical surgical navigation, and discloses an intraoperative instrument position real-time visual tracking system which comprises a preoperative three-dimensional reconstruction unit, an intraoperative positioning unit, a coordinate matching unit, an error compensation unit and a visual display unit which are in bidirectional communication through a data bus. According to the intraoperative instrument position real-time visual tracking system and method, the problem of electromagnetic interference is solved through a magnetoelectric fusion positioning engine and a dynamic magnetic field calibration module, and the magnetoelectric fusion positioning engine receives a gradient magnetic field signal generated by an electromagnet array and an electric field signal of a body surface reference electrode; the dynamic magnetic field calibration module is combined with the frequency division multiplexing technology to separate double-frequency signals, then space-time registration is carried out through the magnetoelectric conversion matrix, alignment of a magnetic sensor and a magnetic beacon coordinate system is not needed, magnetic field distortion caused by a metal instrument can be counteracted, angle calculation errors can be reduced through bimodal signal complementation even if the posture of the instrument changes, and the precision of the instrument is improved. And positioning accuracy is improved.

This disclosure relates to the field of data governance technology, and provides a method, system, apparatus, medium, and device for constructing data indicator services. The method includes: acquiring data source information and extracting indicator metadata and underlying basic data from it; inputting the indicator metadata into an indicator governance framework and the underlying basic data into an indicator calculation framework; performing semantic transformation on the indicator metadata in the indicator governance framework to obtain an indicator semantic knowledge base and generate indicator definition information; establishing a bidirectional communication channel between indicator governance and indicator calculation, and sending the indicator definition information to the indicator calculation framework through this channel; receiving indicator query requests; performing indicator calculations in the indicator calculation framework based on the request and the indicator definition information, combined with the underlying basic data, to generate indicator calculation results; outputting the calculation results to a user terminal and feeding back the calculation results to the indicator governance framework through the bidirectional channel. This embodiment improves the consistency and response efficiency of indicator services.

The invention discloses an RTMP one-way proxy method, system and device based on one-way import equipment and a medium, mainly relates to the technical field of one-way proxy, and is used for solving the problems that in the existing scheme, the one-way flow of data is strictly limited, but a VPN (Virtual Private Network) needs to establish a tunnel through two-way communication, and the handshake process of an RTMP also depends on two-way transmission, so that the efficiency is high. The defect cannot be avoided in the prior art. Comprising a streaming media service relay module connected with RTMP stream pushing end equipment A, a one-way sending program connected with the streaming media service relay module, a one-way receiving program connected with the one-way sending program, and an analog terminal publishing module connected with the one-way receiving program. The system comprises a subscribed external network RTMP streaming media server, an analog terminal subscription module connected with the subscribed external network RTMP streaming media server, a one-way sending program connected with the analog terminal subscription module, a one-way receiving program connected with the one-way sending program, and an analog terminal publishing module connected with the one-way receiving program.

The invention relates to a wireless broadcast connection system and method and a method for automatically configuring an emergency alarm area. The system comprises a wireless broadcast receiving device and an intelligent terminal, the wireless broadcast receiving device is configured to be used for receiving broadcast signals and wirelessly transmitting broadcast audio streams to the intelligent terminal, and the wireless broadcast receiving device comprises a broadcast receiving processing unit, a wireless communication module and a digital signal processing unit. The digital signal processing unit is connected with the broadcast receiving and processing unit and the wireless communication module, and is used for encoding the digital audio signal into an audio stream in a compressed format and carrying out transmission buffer management on the audio stream; wherein the digital signal processing unit is provided with a self-adaptive transmission control module, and the self-adaptive transmission control module has a bidirectional communication capability and is used for receiving a playing buffer area state feedback signal from the intelligent terminal and dynamically adjusting the transmission rate of sending the compressed audio stream to the intelligent terminal according to the feedback signal; therefore, synchronous control of buffer areas of a sending end and a receiving end is realized.

The invention discloses a two-way communication method and device for an iframe embedded page, equipment and a storage medium. The method is applied to an iframe embedded page, and comprises the following steps: monitoring operation processing information triggered in a parent page embedded by the page; and updating a page display path of the sub-page display information according to the operation processing information. And updating page display information of the sub-page based on sub-page parameter information preset for the sub-page and the sub-page display path. And establishing a target communication entity between the parent page and the sub-page under the condition that the page display information is updated, and carrying out two-way communication between the parent page and the sub-page through the target communication entity, so that dynamic embedding of different technology stack development pages is realized, and the technical stack development efficiency is improved. The dynamic switching of different opened page contents is guaranteed, the complex cross-father-child page data interaction capability is realized, and the integrated experience of the application is improved.

We provide the system. [Solution] Means for collecting and analyzing multilingual information, A means of designing a new standard representation using a generative algorithm, means for converting the multilingual information into the standardized expression and compressing it, A means for optimizing the predictive model using the transformed information, A means of performing bidirectional communication with the user using a predicted model, A means of presenting information translated in real time, A system that includes this.

The present application relates to the technical field of intelligent pension robot control, and discloses a task adaptive management system of a pension robot, which comprises a multi-modal task access module, an old person portrait and multi-source sensing module, an adaptive task decision engine, a local pension robot execution terminal, a task closed-loop feedback optimization module and a cloud-based pension management and control platform; the multi-modal task access module is connected with the adaptive task decision engine; the adaptive task decision engine is connected with the local pension robot execution terminal; the local pension robot execution terminal and the adaptive task decision engine are both connected with the task closed-loop feedback optimization module; and the cloud-based pension management and control platform and the adaptive task decision engine are in bidirectional communication. The management system has the advantages of realizing task dynamic addition, postponement, replacement, queuing, splitting and collaborative shunting on demand, and solves the problems of existing pension robots, such as task fixation, poor emergency response, insufficient personalization, low fault tolerance for environmental changes and chaotic multi-machine cooperation.

In one aspect, a movable barrier operator is provided having a motor, a transmitter, a receiver, and a controller. The controller is configured to receive through the receiver a first public key from a remote control; determine a second public key and a second private key; and determine a shared secret session key using the second private key and the first public key. The controller is configured to operate the transmitter and receiver to bidirectionally communicate with the remote control so that the movable barrier operator can learn a fixed code and a changing code of the remote control. The bidirectional communications are encrypted using the shared secret session key. Upon the movable barrier operator successfully learning the remote control, the movable barrier operator transmits a long-term key to the remote control that is used to encrypt subsequent communications between the movable barrier operator and the remote control.

The invention discloses a biomedicine standardized cubesat platform and a working method, and relates to the technical field of space.The biomedicine standardized cubesat platform adopts a 3U cubesat framework, the top layer of the 3U cubesat framework is provided with a satellite bus module, the middle layer of the 3U cubesat framework is provided with an energy and environmental control life support module, and the bottom layer of the 3U cubesat framework is provided with a biological experiment module; the satellite bus module is in bidirectional communication with the energy and environment control life support module and the biological experiment module through data interfaces. The satellite bus module further communicates with a ground station; the energy and environment control and life support module supplies energy to the satellite bus module and the biological experiment module through electrical interfaces, and provides oxygen supply, water supply and environment regulation and control support for the biological experiment module through a fluid transmission channel. Through a standardized and modularized cubesat structure, the functions of biological sample culture, environment regulation and control, real-time monitoring, data return and the like are integrated, and a low-cost and quick-response technical support is provided for space life science experiments.

The utility model belongs to circuit board technical field especially is a kind of multilayer formula interlaced circuit board, including first circuit board and second circuit board, the below of first circuit board is provided with second circuit board, the top of first circuit board is fixedly connected with electronic component, the top of first circuit board is respectively provided with mounting hole around, the right side top of first circuit board is fixedly connected with power interface, the front and back of first circuit board is respectively provided with conducting wire belt, the front and back top of first circuit board is respectively provided with electricity connection hole, the top of first circuit board is provided with isolation component around.The utility model passes through first circuit board, second circuit board, power interface, electronic component, guide tape, electricity connection hole, realizes the two-way communication and collaborative work between two circuit boards, and can prevent electronic component from being damaged or circuit connection unstable due to external force shaking.

The application relates to the technical field of intelligent electric tool control, in particular to an electric tool parameter automatic setting method based on AI, which comprises the following steps: establishing a bidirectional communication connection, uploading inherent parameter data and real-time dynamic parameter data to an upper computer from a tool end, specifically, point-to-point communication pairing of the electric tool and the upper computer is completed before operation. The inherent parameter data are hardware fixed parameters solidified when the electric tool is shipped, and the inherent parameter data have no real-time change characteristics. The electric tool parameter automatic setting method based on AI relies on a multi-modal AI autonomous learning modeling core technology, an operator does not need to have professional parameter debugging knowledge, and the whole-process operation of full-automatic work condition data acquisition, model training, parameter generation, encrypted issuing and local solidification can be completed, the electric tool parameter setting process is greatly simplified, the traditional debugging time of more than half an hour is shortened to less than ten minutes, the parameter setting efficiency is improved by more than 60%, and the equipment debugging threshold and the labor cost are greatly reduced.

To provide a technique capable of facilitating management of a wafer.SOLUTION: A semiconductor manufacturing apparatus includes a cassette mounting table on which a wafer cassette accommodating a wafer ring is mounted, a wafer holding table that holds the wafer ring, a head that picks up a die from a dicing tape to which a wafer attached to the wafer ring and divided into the die is attached, a UV irradiator, and a control device that is configured to irradiate the dicing tape with UV by the UV irradiator and can perform bidirectional communication of UV irradiation information associated with an ID of the wafer cassette with a host computer.SELECTED DRAWING: Figure 7