76 results about "Control oriented" patented technology

The invention belongs to the technical field of reusable aircraft control, and relates to an intelligent fault diagnosis and control method for a reusable aircraft. According to the method, a control-oriented aircraft dynamics model is established, a neural network adaptive fault observer and a particle swarm optimization algorithm are fused, and high-precision tracking control over the attitude and trajectory of the aircraft is achieved. When faults such as performance loss of an actuator and unmeasurable deviation occur, fault information can be estimated quickly and accurately, the reconstructed fault information is integrated into control law design, and it is guaranteed that the aircraft still keeps stable flight in a serious fault state. Meanwhile, the method can effectively deal with composite disturbances such as pneumatic uncertainty, elastic modal coupling and external environment interference, and improves the real-time performance and accuracy of fault diagnosis by means of high-precision joint online estimation. In addition, the particle swarm optimization algorithm further enhances the overall performance and adaptive ability of the control system, so that the aircraft operates more efficiently and stably in the flight process.

The invention belongs to the technical field of flight control. The invention provides a specified time increment control method for an aircraft airflow angle under multi-fault interference. The method comprises the following steps: establishing an airflow angle and angular rate kinetic equation of an aircraft and converting the equation into a strict feedback linearization form; performing first-order Taylor expansion on the kinetic equation at the current sampling moment, and establishing a control-oriented incremental model; a specified time airflow angle controller and a specified time angular rate controller of an aircraft are designed based on a control-oriented incremental model and a specified time theory, and specified time control over the airflow angle of the aircraft is achieved. The embodiment of the invention has the advantages of simple structure and strong robustness, only needs the state differential measurement information and the control surface control derivative of the airplane, effectively reduces the dependence on the precise nonlinear term in the airplane model, and can still realize the precise airflow angle control at the specified time even under multiple faults.

A motor vehicle is described, which comprises: a passenger compartment; a plurality of driving members, which are housed inside the passenger compartment and can be operated by a driver in order to control the trajectory and the speed of the motor vehicle; at least one control member connected to one of the driving members through a drive by wire mode; the motor vehicle is selectively available in a first configuration, wherein the passenger compartment defines a first seat for a driver facing the control member and a second seat for a passenger beside the first seat along an axis; and a second configuration, wherein the passenger compartment only defines a third seat for a driver; the first seat being arranged, in the first configuration, in a first position and the third seat being arranged, in the second configuration, in a second position spaced apart from the first position along the axis; the driving member can be moved along the axis to enable the transformation of the motor vehicle between said first and second configurations.

The invention belongs to the technical field of hypersonic flight vehicle control, and particularly relates to an INDI-based flight and thrust integrated control method for a hypersonic flight vehicle. The method comprises the following specific steps: designing a vertical-direction-controlled flight-thrust integrated longitudinal dynamic model of the hypersonic aircraft, designing a trajectory guiding outer ring to realize height and speed tracking control, designing an attitude stabilizing outer ring to realize attack angle tracking control, constructing an attitude control inner ring to realize flight-thrust control of an acceleration level, and designing a flight-thrust model of the hypersonic aircraft. And designing an engine compensation layer to process dynamic delay of an actuator. Through the MIMO-INDI mechanism, the pneumatic / propulsion coupling effect is actively utilized, collaborative distribution of the fuel equivalence ratio of the elevator and the engine is achieved, and the comprehensive control performance of the aircraft is improved. The method is a flight / propulsion integrated control method and has a wide application prospect.

An active pre-heat-dissipation control method for dynamic loading of a high-power fuel cell relates to the technical field of fuel cell thermal management control, and comprises the following steps: firstly, acquiring operating parameters such as pile voltage, coolant temperature and the like in real time, establishing a control-oriented pile and cooling system model, and fitting and identifying model parameters based on acquired operating data; and designing an electric pile temperature controller, and dynamically adjusting the operation amount of the cooling system according to the real-time and target temperature deviation. A mapping relation between temperature response characteristics and system net power under different loads and environment temperatures is established through a model operation result, and the future temperature rise rate is calculated in combination with a load current prediction model. An active heat dissipation mechanism is constructed based on a multi-objective cost function, the pre-heat dissipation amount is dynamically adjusted according to the current change rate or the environment temperature when the future temperature rise rate or the environment temperature exceeds the limit, the problem that heat dissipation is not in time due to high-power loading or too high environment temperature is effectively solved, and stable temperature control and system net power optimization are achieved.

The invention relates to a fault detection method and device, a storage medium and a computer program product, and relates to the technical field of computers. The fault detection method comprises the following steps: according to a control instruction sent by a control plane, acquiring related information of a model training system according to a time interval by utilizing a data plane; in response to detecting that the model training system has an abnormal condition according to the related information, notifying the control plane of the abnormal condition by using the data plane; and processing a computer corresponding to the abnormal condition in the model training system by using the control plane. According to the technical scheme, the fault detection efficiency can be improved.

The invention discloses a robust control method for the stability of a special vehicle on a soft and rugged road surface, and relates to the technical field of vehicle control. Comprising the steps that driver input is acquired, and reference input of a controller is generated based on a reference generation model in combination with vehicle kinematics and dynamics principles; a linear form model is constructed as a control-oriented basic model, model error estimation is performed by using real-time online data generated by operation of a real vehicle system, a model based on interference estimation is constructed, and real-time correction and compensation of a vehicle dynamics model are realized; and on the basis of the corrected and compensated off-road vehicle dynamics model, control quantities are generated and sent to the vehicle through yaw stability control based on MPC and torque distribution based on optimization, and stability control over the vehicle is achieved. The method can dynamically adapt to complex working conditions of soft and rugged road surfaces, so that a vehicle dynamics model is more accurate, and a reliable foundation is laid for subsequent control.

The invention provides an unmanned aerial vehicle group coordination control method for implicit communication in an offline scene, and the method comprises the steps: converting the local state and communication information of an unmanned aerial vehicle into a discrete index sequence through the sequence modeling based on a vocabulary in a centralized training stage, and predicting the global state through a Transform encoder-decoder structure, so as to enhance the information fusion capability. In the distributed execution stage, the unmanned aerial vehicle only depends on local observation and historical information, calculates a local action value function through a gating circulation unit in combination with a global state, optimizes a hybrid network by using a deep Q network, finally obtains an optimal global action value function, and realizes efficient cooperative decision making. According to the method, the information sharing capability of the unmanned aerial vehicle group can be enhanced without explicit communication, the decision stability is improved, the training cost and the safety risk of online execution are reduced, and the method is suitable for unmanned aerial vehicle group tasks in a communication limited or complex dynamic environment.

The application discloses a flight control oriented OTA upgrading method, system, device, computer readable storage medium and program product, belongs to the field of computer science and technology, and aims to solve the problems of insufficient safety of an existing upgrading process, unreliable data transmission and weak batch management capability for a heterogeneous architecture. The method establishes a first connection, sends a start request frame containing a specific identification code and an inverse code, sets an upgrading flag and resets the flight control, and disconnects the connection. After resetting, a second connection is established, firmware is transmitted and written, an end request frame with the same frame structure is sent, the flight control is finally reset and starts new firmware, and the connection is disconnected. The frame structure containing the identification code and the inverse code, the instruction code and the check code enhances the communication reliability and the anti-interference capability. The stage resetting and the flag mechanism ensure that the upgrading process is controllable and recoverable, avoids firmware damage or startup failure, and improves the safety and stability of the flight control system remote upgrading.

The invention belongs to the technical field of hypersonic flight vehicle control, and relates to an end cloud intelligence enhanced elastic hypersonic flight vehicle control method. The method comprises the following steps: constructing a longitudinal dynamic model of the elastic hypersonic aircraft, and converting the longitudinal dynamic model into a control-oriented mathematical model to facilitate the design of ESO and PID controllers; designing an ESO including generalized elastic displacement observation to observe key state parameters of the system; designing a cascade feedforward PID controller to control the attitude and speed of the hypersonic aircraft; and designing an end cloud intelligent parameter setting system to realize online setting of PID control parameters. The method is an intelligent control method for the hypersonic flight vehicle based on the elastic observer, and has a wide application prospect. Experimental results show that compared with traditional PID control, the method has the advantages that the tracking precision, the response speed and the anti-jamming capability are remarkably improved, and a new thought is provided for autonomous flight control of the hypersonic flight vehicle.

The invention particularly relates to a direct force carrier landing control method based on predefined time active disturbance rejection control, and belongs to the technical field of aviation. Aiming at the problems of high landing accident rate and large wake flow disturbance influence of a shipboard aircraft, uncertain convergence of a traditional control method and the like, the method comprises the following steps: firstly, establishing a six-degree-of-freedom nonlinear model, an aerodynamic force and an aerodynamic moment model of the shipboard aircraft, and fusing the wake flow disturbance influence; constructing a torque control channel and a direct force control channel, and converting the torque control channel and the direct force control channel into a control-oriented model; and then designing PTADRC-based attitude angle, angular rate and track angle control laws, and realizing total disturbance estimation and compensation through PTESO. Simulation verification shows that the method has no overshoot and no steady-state error tracking instruction in the predefined time, is high in anti-interference capability, can guarantee the stability and accurate control of the landing attitude of the shipboard aircraft, and remarkably reduces the landing risk.

The invention relates to a self-adaptive dynamic inverse fault-tolerant control method for a heavy carrier rocket, which comprises the following steps of: performing attitude dynamics modeling on the heavy carrier rocket, and establishing a gain fault model and an offset fault model of an actuating mechanism; simplifying the attitude dynamics model to obtain a control-oriented system model, and designing a control law under an ideal condition based on a dynamic inverse theory; a self-adaptive fault-tolerant control law is designed for the heavy carrier rocket with the gain fault and the bias fault of the executing mechanism; the stability analysis of the designed adaptive fault-tolerant control law is completed based on the Lyapunov stability theory, and the heavy carrier rocket can realize attitude-stable flight under the condition that a non-fatal fault occurs. The heavy carrier rocket fault-tolerant control method has a good improvement effect on solving the heavy carrier rocket fault-tolerant control problem, the flying safety and robustness of the heavy carrier rocket are enhanced, and the heavy carrier rocket fault-tolerant control method has a good application prospect in the aerospace field.

The utility model discloses a shower device and a hidden knob structure thereof, which can reduce the requirement on coaxiality when parts are assembled. The hidden knob structure comprises a shell, a water channel body, a control valve, an adapter, a sleeve, a push rod, a knob and a swing assembly. The shell is provided with a movable hole; the water channel body is mounted in the shell; the control valve is mounted on the water channel body and is opposite to the movable hole; the adapter is coaxially connected to the control end of the control valve and provided with a first sliding groove extending in the radial direction of the adapter. The sleeve is fixedly installed in the movable hole, and the end face, facing the control valve, of the sleeve is provided with a second sliding groove extending in the radial direction of the sleeve. The push rod is pressed and telescopically matched on the end surface of the sleeve back to the control valve; the knob penetrates through the movable hole and is relatively fixed with the telescopic end of the push rod; the swing assembly comprises a sliding block in sliding fit in the second sliding groove and a swing rod with one end in pivot fit with the sliding block, and the other end of the swing rod is in sliding fit in the first sliding groove.

The application discloses an additive decomposition dynamic surface control method for unmanned aerial vehicles, and comprises the following steps: constructing a standard unmanned aerial vehicle dynamics model for controller design; constructing an observer for related uncertain functions and state variables in the standard unmanned aerial vehicle dynamics model for controller design; using the output information of the observer to design a dynamic surface intermediate control signal required by each dynamic subsystem and to provide a reference signal for the terminal dynamic subsystem; and constructing an error dynamics subsystem based on the reference signal and using an additive decomposition technology to design a final additive decomposition dynamic surface control signal. By introducing the additive decomposition and observer technology into the traditional dynamic surface controller design framework, the non-affine problem of the actual control signal can be solved, and the calculation load of the controller can be reduced, so that a more simplified and efficient controller design scheme is provided for the path tracking task of the unmanned aerial vehicle.

The invention relates to an intelligent synthesis-oriented spacecraft component equipment description method, and belongs to the technical field of architecture design. Abstract modeling and unified description are carried out on management operation of common component equipment in a spacecraft control subsystem, an application example is given, and the development efficiency and quality of spaceflight embedded software intelligent composite codes can be improved. According to the method, firstly, component equipment composition of an existing spacecraft control subsystem is combed, then general and difference demand analysis is carried out on component equipment management functions of the spacecraft control subsystem, then a software unified equipment model oriented to control system components is established, and finally a specific example is given. The method can quickly adapt to software codes formed by different parts of the control system, the reuse capability of the control software is improved, and then intelligent synthesis of the software is supported.

A joystick device for a machine, in particular an off-highway vehicle, is provided. The joystick device comprises a control lever (110), a lever support mechanism (120) configured to support the control lever (110) and to provide a two axes movement of the control lever (110), and a changeover mechanism (10). The changeover mechanism (10) has a guide structure (20) having a guide pattern (25) and a translation mechanism (30) operable to translate the guide structure (20) from a first position at which the control lever (110) is spaced apart from the guide pattern (25) to a second position at which the control lever (110) engages the guide pattern (25) to thereby restrict movement of the control lever (110) to the guide pattern (25). The guide structure (20) has a surface (24) that faces the control lever (110) and the guide pattern (25) extends in the surface (24). The translation mechanism (30) is configured to translate the guide structure (20) in a direction (11) perpendicular to the surface (24) of the guide structure (20) to engage the guide pattern (25) with the control lever (110).

An HVAC controller includes an HVAC control module, a control housing covering or enclosing at least a portion of the HVAC control module, a near field communication (NFC) module, and a communication connection connected to the HVAC control module and the NFC module. The HVAC control module includes a controller board, a controller processor, and a controller memory disposed on the controller board. The control housing has an inner surface facing the HVAC control module and an outer surface opposite the inner surface. The NFC module includes an NFC board, NFC circuitry, and an NFC antenna connected to the NFC board. The NFC module is positioned remote from the HVAC control module and proximate the inner surface or the outer surface of the control housing.

The application discloses a kind of linear hydrodynamic parameter identification methods of underwater vehicle facing control law design, it is related to the cross field of ship integrated motion control technology and bionic intelligent algorithm, including the following steps: establishing linear motion state equation of underwater vehicle;Obtain underwater vehicle navigation test data;Determine objective function in combination with underwater vehicle hydrodynamic motion characteristics;The hydrodynamic parameters contained in linear motion state equation are taken as individuals to form a population, and the population is initialized;According to the objective function, the population is optimized using improved genetic algorithm, and the key hydrodynamic parameters are output.The application effectively reduces the error between the output of the linear motion equation of the underwater vehicle under typical steering input and the test data, thereby reducing the modeling error of the linear motion equation of the underwater vehicle used for controller design, and improving the control quality and robustness of the control algorithm of the underwater vehicle.

The invention relates to the field of aircraft guidance control, and discloses a cruise tracking control method for a hypersonic aircraft with a plasma excitation device. The method comprises the following steps: step S1, establishing a dynamic model of a longitudinal motion plane of the aircraft; step S2, control-oriented longitudinal motion plane model conversion; step S3, establishing an equivalent control surface model of the plasma excitation device; step S4, designing a nonlinear disturbance observer; step S5, designing a speed control law based on the disturbance observer; step S6, designing an altitude control law based on the disturbance observer; and step S7, validating the effectiveness of a control algorithm. The invention additionally considers a plasma excitation device as an actuator, effectively alleviating the problem of low control efficiency of the control surface of the hypersonic aircraft in large airspace flight, and combining the nonlinear inverse control theory and the disturbance observer method, realizes high-precision trajectory tracking control of the aircraft with the plasma excitation device in the cruise stage.

A motor assembly is provided. The motor assembly includes a control board, a fan motor, an impeller that is rotated by the fan motor, a first guide that covers the impeller and guides sucked-in air in an axial direction of the impeller along an air flow path to be directed to the control board, and a second guide disposed between the first guide and the control board to cover the fan motor and guide air along the air flow path, wherein the second guide is located apart from the control board, and wherein the second guide includes a nozzle portion having a gradient of a certain angle with respect to the axial direction at an end facing the control board.

The application discloses a material flow transfer collaborative control method based on multi-source information fusion, and particularly relates to the general control and regulation field, which comprises five steps of multi-source heterogeneous data acquisition and standardized representation, state space construction oriented to control characteristics, multi-element state analysis based on parallel constructor, multi-factor fusion decision generation, instruction execution and feedback adaptive closed loop; the global data acquisition mechanism is constructed to integrate carrier, facility and task data, the workshop layout is abstracted into a structured graph model to generate a state snapshot, the system state is evaluated in parallel from the efficiency, stability and economy dimensions, the multi-objective decision model is constructed by combining the task priority to dynamically adjust the weight, and the model self-evolution and self-correction are realized through the closed loop feedback; the application breaks the limitation of traditional static scheduling, improves the collaboration and precision of the material flow transfer, reduces the operation energy consumption, and provides an efficient solution for the intelligent upgrading of the industrial material flow transfer system.

The utility model belongs to the field of smart home, and particularly relates to a conference room intelligent control screen which comprises a base. The top of the base is rotationally connected with a supporting rod. The other end of the supporting rod is rotationally connected with a mounting plate; the middle part of the mounting plate is fixedly connected with a motor; the output end of the motor is fixedly connected with fan blades; a clamping assembly is slidably connected to the middle of the mounting plate. A control panel is installed in the middle of the clamping assembly. A plurality of first air grooves are formed in one side, far away from the control panel, of the mounting plate; a second air groove is formed in one side, facing the control panel, of the mounting plate; by means of the structure, the situation that the control panel is stuck due to the too high temperature and cannot control the intelligent device can be reduced, and the situation that the touch surface of the control panel is damaged can be reduced.

The invention relates to an automatic driving control method based on elastic safety critical control. The method comprises the steps that the vehicle state, the reference path and the environment information of automatic driving are obtained in real time; establishing a control-oriented automatic driving vehicle dynamics controlled model, and establishing an optimization problem considering time-varying safety constraints; designing an elastic safety critical control model: estimating time-varying disturbance, converting safety and stability into constraints through an elastic control barrier function of a self-adaptive penalty parameter, establishing a unified constrained optimization framework, and integrating safety constraints, stability constraints and control input constraints into a quadratic optimization problem; and solving a secondary optimization problem of the elastic safety critical control model in real time to obtain safety control input of the automatic driving vehicle. Compared with the prior art, the method has the advantages that the vehicle can accurately track the reference path under the time-varying disturbance, and the system safety and stability are ensured.

This invention belongs to the field of reusable aircraft control technology, and relates to an intelligent fault diagnosis and control method for reusable aircraft. This method establishes a control-oriented aircraft dynamics model, integrates a neural network adaptive fault observer and a particle swarm optimization algorithm, to achieve high-precision tracking control of the aircraft's attitude and trajectory. When faced with faults such as actuator performance loss and unmeasurable deviations, it can quickly and accurately estimate fault information and integrate the reconstructed fault information into the control law design, ensuring stable flight even under severe fault conditions. Simultaneously, this method can effectively cope with complex disturbances such as aerodynamic uncertainties, elastic modal coupling, and external environmental interference. Through high-precision joint online estimation, it improves the real-time performance and accuracy of fault diagnosis. Furthermore, the particle swarm optimization algorithm further enhances the overall performance and adaptive capability of the control system, making the aircraft operate more efficiently and stably during flight.

The present invention relates to an adaptive justifier for a vehicle perception system oriented towards robust autonomous driving control. A system includes a computing device. The computing device includes a processor and a memory including instructions causing the processor to be configured to: convert vehicle dynamics data to corresponding road geometry data; calculate a justifier value based on a difference between the road geometry data and map-based road geometry data; and determine whether to modify a vehicle state based on the justifier value.

The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to an all-wheel-drive finite-time fault-tolerant control method for a time-varying load quadrotor unmanned aerial vehicle, and aims at the quadrotor unmanned aerial vehicle carrying the time-varying load in an actuator failure scene and considering partial failure of an actuator, the time-varying load and external interference. A precise dynamic model is established and converted into a control-oriented design model, an all-drive system, finite time, preset performance and a fault-tolerant control design algorithm are combined, and based on a Lyapunov stability theory, it is proved that signals of a closed-loop system are consistent and finally bounded, and tracking errors of all subsystems are converged to be within preset precision within the finite time. Finally, the effectiveness of the designed method is verified through a simulation experiment. According to the all-drive finite time fault-tolerant control method for the time-varying load quadrotor unmanned aerial vehicle, the unmanned aerial vehicle can output a stable tracking reference instruction, the tracking error finite time is converged to a preset steady-state error range, and finally the feasibility of the method is proved through a simulation experiment.

drive device (300) which has an engine (310), a control plate (360) configured to control the motor (310), a connecting element (370) located in a predetermined direction between the motor (310) and the control plate (360), wherein the connecting element (370) electrically connects the control plate (360) and an external device (210), and a solder metal (393) that connects the control plate (360) and a motor cable (315) that extends in the specified direction from the motor (310) through the connecting element (370) to the control plate (360), wherein the control plate (360) has a through-hole (361) through which the motor cable (315) passes, the through-hole (361) opening on a lower side (360b) of the control plate (360) facing the connecting element (370) and on an upper side (360a) of the control plate (360) opposite the lower side (360b), wherein the connecting element (370) contains: a base section (371) that is connected to the motor (310), a support section (377) which projects from the base section (371) in the predetermined direction towards the control plate (360) such that a tip surface (377a) of the support section (377) is in contact with the lower side (360b) of the control plate (360) so that the support section (377) supports the control plate (360), and a guide section (378) having a guide hole (378c) through which the motor cable (315) passes, the guide hole (378c) opening on a lower side (378b) of the connecting element (370) facing the motor (310) and on an upper side (378a) of the connecting element (370) facing the control plate (360), the upper side (378a) of the connecting element (370) projects from the base section (371) towards the control plate (360) and is further away from the lower side (360b) of the control plate (360) in the predetermined direction than the tip surface (377a) is from the lower side (360b) of the control plate (360), a rib of solder metal (393) is formed on both the upper side (360a) and the lower side (360b) of the control plate (360), and the rib formed on the lower side (360b) of the control plate (360) is positioned between the upper side (378a) of the connecting element (370) and the control plate (360).

The application belongs to the technical field of flight control. The application provides a specified time increment control method for aircraft flow angle under multiple fault interference. The method comprises the following steps: establishing the dynamics equation of the aircraft flow angle and angular rate and converting it into a strict feedback linearization form; performing first-order Taylor expansion on the dynamics equation at the current sampling time to establish a control-oriented incremental model; designing a specified time flow angle controller and a specified time angular rate controller for the aircraft based on the control-oriented incremental model and the specified time theory to achieve specified time control of the aircraft flow angle. The disclosed embodiments have the advantages of simple structure and strong robustness, only require the state differential measurement information and control surface manipulation derivative of the aircraft, effectively reduce the dependence on accurate nonlinear terms in the aircraft model, and can still achieve accurate flow angle control under specified time even under multiple faults.

This invention belongs to the field of hypersonic vehicle control technology, and relates to an edge-cloud intelligent enhancement control method for hypersonic vehicles. The method includes constructing a longitudinal dynamic model of the hypersonic vehicle and transforming it into a control-oriented mathematical model to facilitate the design of the ESO (Elastomer Optimizer) and PID controller; designing an ESO with generalized elastic displacement observation to observe key system state parameters; designing a cascaded feedforward PID controller to control the attitude and velocity of the hypersonic vehicle; and designing an edge-cloud intelligent parameter tuning system to achieve online tuning of the PID control parameters. This method is an intelligent control method for hypersonic vehicles based on an elastic observer and has broad application prospects. Experimental results show that compared with traditional PID control, this method significantly improves tracking accuracy, response speed, and anti-interference capability, providing a new approach for the autonomous flight control of hypersonic vehicles.

The invention discloses a time-varying self-adaptive asymptotic temperature control method for a fuel cell thermal management system, and the method comprises the following steps: S1, building a control-oriented multiple-input multiple-output thermal management system model based on the inlet and outlet temperatures of an electric pile, the double-circulation temperature dynamics and the internal heat exchange process of the system; s2, designing a novel time-varying command filter and introducing the novel time-varying command filter into a backstepping control framework in order to achieve a target of presetting temperature tracking error convergence time; s3, environment and system parameter perturbation are considered, a time-varying error compensator based on a smoothing sign function is combined, and a dual-channel time-varying self-adaptive asymptotic temperature tracking controller is provided to process unknown perturbation and compensate filtering errors; s4, selecting a proper Lyapunov function to prove that a closed-loop system is stable, and the temperatures at the inlet and the outlet of the galvanic pile can be gradually tracked to a reference value; according to the method, the problems of non-uniform temperature distribution and severe fluctuation of the electric pile caused by dynamic load change, parameter uncertainty and the like are solved, the operation efficiency of the battery is improved, and the service life of the battery is prolonged.