66 results about "Motion measurement" patented technology

To provide a stage unit and a processing system which are advantageous for accurately positioning an electronic component at a desired position.SOLUTION: The stage unit 10 includes the base 11, the stage 12 on which the electronic component is placed, the stage moving mechanism 13 that moves the stage 12 with respect to the base 11, the movement measuring sensor 37 capable of directly or indirectly measuring the movement amount of the stage 12, and the control unit that controls the stage moving mechanism 13 based on the movement instruction command signal and moves the stage 12 so as to be arranged at the adjustment position indicated by the movement instruction command signal. The control unit controls the stage moving mechanism 13 based on the movement amount of the stage 12 indicated by the measurement result of the movement measuring sensor 37 and the adjustment position.SELECTED DRAWING: Figure 1

The application discloses a kind of single-point mooring chain and anchor chain disc connection damage monitoring and inhibiting device and method, it is related to the inner turret type single-point mooring safety monitoring and protection technical field, the device is set in the tower body structure under the turret of the inner turret type single-point mooring system, including: motion measurement module, contact load measurement module, mooring chain measurement module, collaborative control module and inhibiting drive module, motion measurement module is used to obtain the motion characteristics of turret;Contact load measurement module is used to measure contact interface load and wear amount;Mooring chain measurement module is used to obtain chain body posture and tension;Collaborative control module carries out damage grade determination and instruction output;Inhibiting drive module executes pre-tightening force adjustment, mechanical locking and wear compensation to realize hierarchical inhibition.The application solves the problem of insufficient in-situ monitoring capability of contact interface in the prior art, lack of active inhibition means, realizes in-situ perception, intelligent determination and hierarchical inhibition of intelligent control of the damage of mooring chain and anchor chain disc connection.

The present disclosure provides a kind of inertial motion measurement double-axis rotation excitation enhancement method and system based on observability analysis.First, the system state space model of introducing double-axis rotation mechanism is constructed, the normalized observability analytical expression of sensor error under zero speed condition is derived based on Gramian matrix eigenvalue decomposition;Accordingly, the attitude condition of error observability maximization is determined, and the optimal rotation excitation strategy including a series of optimal observation positions is set;In the process of inertial navigation positioning assisted by zero speed update ZUPT, in non-zero speed interval, based on the optimal rotation excitation strategy, the IMU is sequentially guided to each optimal observation position by controlling double-axis rotation mechanism, to solve the problem of low error state observability caused by single carrier attitude in zero speed correction.The present application can realize full state high-precision estimation of three-axis accelerometer bias and gyroscope zero bias, effectively improve the precision and robustness of autonomous motion measurement in complex environment.

This invention discloses an error-compensated inductive sensor calibration method and system, comprising: controlling a macro-micro composite drive platform to drive a moving component on which an inductive sensor to be calibrated is mounted, causing it to continuously move relative to a fixed standard target surface; measuring the actual displacement of the moving component to obtain a standard displacement sequence; synchronously acquiring the actual output voltage of the inductive sensor to be calibrated during the movement process to form an actual measurement value sequence; calculating the measurement deviation, generating a measurement deviation sequence, and dividing the sequence into at least three compensation intervals according to the displacement range; establishing a compensation value lookup table in each compensation interval to generate calibration parameters for correcting zero-point offset, gain drift, and nonlinear characteristics. This invention combines displacement measurement with synchronous acquisition of sensor output, enabling targeted correction of zero-point offset, gain drift, and nonlinear errors, thus improving the precision and adaptability of the compensation.

The invention belongs to the field of vascular intervention simulation training, and particularly relates to an optical tracking type medical intervention instrument operation data acquisition device which comprises a device body and a virtual simulation system, a base of the device body is provided with a plurality of monitoring positions and a force feedback device, and each monitoring position is provided with an intervention limiting channel of a medical intervention instrument. The force feedback device is located between the adjacent monitoring positions, an inlet and an outlet of the force feedback device are communicated with the intervention limiting channel of each monitoring position through connecting pieces, each monitoring position is further provided with a motion measuring module used for collecting real-time horizontal displacement data and rotation angle data of the medical intervention instrument in a non-contact mode, and the base is further provided with a data processing module. The data processing module is in communication connection with the motion measurement modules, the force feedback device and the virtual simulation system. According to the invention, the three-dimensional space position and the rotation angle of the medical interventional instrument can be measured, and the motion data of the medical interventional instrument can drive the corresponding model in the virtual environment in real time, so that high-precision operation training and evaluation are realized.

A device for monitoring a patient determines a set of predicted physiological variables using a model trained from physiological variables collected from the patient. The device receives a set of measured physiological variables and a motion measurement. The device compares the set of measured physiological variables to the set of predicted physiological variables to determine a residual vector. The device classifies the residual vector using a vector motion error based on the motion measurement, and performs an action based on the classification of the residual vector.

The invention belongs to the technical field of floating fan experiments, and provides a non-contact floating fan model motion measurement method, which adopts a device comprising an infrared light supplement lamp, an image collector, a PC (Personal Computer) and two cameras. Considering that a sensor cannot be additionally arranged on a fan blade and that the blade rotates and the fan floating platform also has six-degree-of-freedom movement in an experiment process, the method adopts a similar image processing method to respectively obtain space coordinates of the fan floating platform and the fan blade; and different motion analysis modes are adopted to solve each motion parameter of the floating fan. Non-contact motion measurement in the floating fan model experiment process is achieved, motion parameters of a fan floating platform and rotation parameters of fan blades can be obtained at the same time, only a binocular vision system composed of two cameras is adopted on equipment, operation is easy, analysis is reasonable, the whole measurement process is integrally and automatically completed, and the measurement efficiency is improved. And the method has a relatively high application value.

The invention provides a positioning method based on a local point cloud map and a related device, and the method comprises the steps: determining first index data corresponding to a pre-constructed global point cloud map; determining adjacent reference pose data from the first index data according to the initial pose data; constructing a local point cloud map according to the adjacent reference pose data; determining first pose data according to the motion measurement data; and performing registration processing on the current frame point cloud data and the first pose data in the local point cloud map to obtain second pose data. A local point cloud map is constructed, the number of points in the point cloud map is reduced, the real-time performance of registration is improved, the memory overhead is reduced, and positioning can be applied to a large-scene map. And meanwhile, the point registration proportion of the registration point cloud and the point cloud map is used as a basis for judging whether positioning is accurate or not, so that misjudgment on the positioning accuracy in a narrow environment or under the condition that the number of point cloud points is small is reduced.

An apparatus configured to be removably attached to a vehicle includes a data collection device that is removably attachable to the vehicle. The data collection device includes an enclosure including a motion measurement sensor housed therein, and a mounting mechanism. The enclosure including the motion measurement sensor housed therein is configured to measure parameters that are used for calculating vibrational anomalies of the vehicle. The mounting mechanism is removably attached to the enclosure including the motion measurement sensor housed therein. The mounting mechanism has a proximal end and a distal end. The proximal end of the mounting mechanism has a fixative for removably attaching the mounting mechanism to the enclosure including the motion measurement sensor housed therein. The fixative is immobile with respect to the enclosure immediately upon attachment to the enclosure including the motion measurement sensor housed therein. The fixative thereby does not require further movement with respect to the enclosure including the motion measurement sensor housed therein immediately upon attachment to the enclosure including the motion measurement sensor housed therein. The distal end of the mounting mechanism is a vehicle mounting interface configured to allow the data collection device to be removably attached to the vehicle.

The application discloses a kind of cross-scale visual ultra-precision motion measurement device and method, the device includes image sensor, aperture diaphragm, imaging lens group, coaxial light source, beam splitter, positioning platform, encoding plate and DSP and ARM integrated signal processing system.In the method, by selecting the number of linear feedback shift register and period large λ and carrying out periodic coding, after DSP and ARM signal processing system pre-processing operation to image, static random access memory is driven to carry out image caching;Two-dimensional Fourier transform is executed to cached image, and relevant linear phase processing is carried out;According to the phase data obtained by linear phase processing, the corresponding binary sequence on local image is identified;The identified local binary sequence is looked up to the binary sequence of encoding plate and positioned, and according to the phase constant of periodic phase measurement, fine positioning is carried out.

The invention discloses a directional cognitive ability assessment method and device based on virtual reality. The system comprises a universal treadmill, a motion measurement module, a virtual reality helmet, an olfactory electroencephalogram module, a directional cognitive ability assessment module and a monitoring module. The universal treadmill, the motion measurement module, the virtual reality helmet and the monitoring module are connected with the directional cognitive ability evaluation module; the monitoring module is used for collecting and processing physiological signals of a user to obtain a collected information set; and the directional cognitive competence evaluation module is used for evaluating the motion track information of the legs of the user, feedback information of the directional cognitive test information and the like to obtain directional cognitive competence evaluation result information of the user. The universal treadmill is introduced, various psychological and physiological indexes of the user are collected while the user completes the virtual directional cross-country activity, measurement information capable of reflecting the real directional cognitive ability of the user is obtained, and it is guaranteed that the evaluation result is objective and accurate.

The utility model relates to the technical field of lithium battery detection, in particular to a measuring device which comprises a base, an air floating guide rail, a movable support and a measuring assembly, the air floating guide rail is arranged on the base, an air floating sliding block is arranged on the air floating guide rail, and the air floating sliding block can move on the air floating guide rail; the movable support is of an annular structure, and the outer edge face of the movable support is connected with the air floating sliding block so that the movable support can move along with the air floating sliding block. The measuring assembly is arranged on the movable support and can move along with the movable support. Due to the arrangement of the air floating sliding block and the air floating guide rail, the air floating sliding block and the air floating guide rail are separated by utilizing an air static pressure principle, so that friction in a movement process is reduced, high-speed and friction-free operation of the air floating sliding block is realized, and the stability of the moving bracket and the measuring assembly on the air floating sliding block during movement is ensured; therefore, the development requirements of high-precision and high-speed measurement can be met.

The present disclosure relates to sensor-based training plan adjustments. A computer-implemented method for adjusting a training plan of a user includes: a database storing measurement data of physical workouts performed by the user, including at least one of heart activity measurement data and motion measurement data; receiving a user input selecting a week template for the training plan, the week template including a training schedule comprising pre-planned recurring workouts; receiving a user input indicating a recurring workout outside of the training plan; obtaining measurement data of past physical workouts of the recurring workout from the database based on the user input indicating the recurring workout; determining a training effect of the past physical workouts based on the measurement data, determining a recurring physical workout in the training schedule having a training effect closest to the training effect of the past physical workouts; adjusting the training schedule by replacing the determined recurring physical workout with the workout of the recurring workout; outputting instructions via a user interface for the user to follow the adjusted training schedule.

The invention discloses a non-contact railway vehicle motion measurement method and system, relates to the technical field of railway vehicles, and provides the non-contact railway vehicle motion measurement method for solving the problem that a current common speed measurement scheme is difficult to consider precision requirements under high-speed and low-speed working conditions. A non-contact speed measurement scheme based on an eddy current sensor is provided through a unique tooth groove design. The detection plate in the method is provided with tooth grooves with different widths. Taking teeth as an example, the teeth comprise first teeth and second teeth which are different in width in the track direction, and the second teeth are arranged on the detection plate at intervals of a preset number of first teeth, so that two detection intervals with different widths are provided. The first teeth and the first grooves with smaller intervals are used for speed measurement under the low-speed working condition, and the second teeth and the second grooves with larger intervals are used for speed measurement under the high-speed working condition, so that the speed measurement precision of a vehicle under different vehicle speed working conditions is ensured, and the actual speed measurement requirement is met.

This application relates to a robot relocalization method and a robot. The method includes: first, acquiring the robot's current motion measurement data, as well as terrain image data and terrain height data of the robot's current operating position in the work area; then, generating a local terrain descriptor for the current operating position based on the current motion measurement data, the terrain image data, and the terrain height data; next, indexing the local terrain descriptor in a preset terrain descriptor index library to determine the target area corresponding to the current operating position, wherein the terrain descriptor index library includes multiple sets of mapping relationships between terrain descriptors and areas in the work area; finally, relocalizing the robot based on the target area and the current motion measurement data. This method can improve the accuracy of robot relocalization.

The application relates to the technical field of low-power electronic circuit control, and discloses a low-power circuit control system based on motion amplitude change, which comprises a motion sensor sub-module, a noise feature acquisition sub-circuit, a low-power control unit, a main function module and a power management module. The motion sensor sub-module is used for outputting only an analog signal containing a background noise component without performing normal motion measurement in a low-power bias mode. The noise feature acquisition sub-circuit is used for obtaining a current feature vector composed of a noise envelope average value and a noise envelope variance. The low-power control unit is used for switching the system among a noise monitoring standby state, a noise feature verification state and a main function working state. The main function module is used for starting and executing a predetermined function task when the main function working state is entered. The background noise component of the motion sensor is used as a judgment basis in the low-power bias mode, the structure reduces the number of function circuits of the motion sensor participating in the standby stage, and thus the energy consumption of the system in the standby stage is reduced.

Anomaly analysis is performed for a subsystem or component of a vehicle that experiences mechanical vibration during rotation of the subsystem or component using a database of trends of the axis of rotation and trends of vibrational frequencies of a plurality of different subsystems or components with known anomalies, and an artificial intelligence (AI) model. In operation, a first processor triangulates a location of the axis of rotation of the subsystem or component of the vehicle at any instance of time using motion data collected from a plurality of motion measurement sensors that are attached to the subsystem or component, thereby defining locations of the axis of rotation at a plurality of successive instances of time. A second processor determines, using the AI model and the trends of the axis of rotation in the database, points of interest from the locations of the axis of rotation of the subsystem or component at the successive instances of time. The anomaly of the subsystem or component is identified using the AI model and the trends of the axis of rotation and trends of vibrational frequencies in the database, wherein the AI model uses the points of interest in its processing. One or both of a cause of the anomaly and a recommended corrective action to be taken to address the anomaly is generated using the AI model, wherein the AI model uses the identified anomaly of the subsystem or component in its processing. The AI model outputs one or both of the cause of the anomaly, and the recommended corrective action to be taken to address the anomaly.

The invention relates to a pose verification method of a multi-dimensional platform, a supporting platform system and a storage medium. The method comprises the following steps: acquiring first motion data which is measured by a first motion measuring device and is associated with a driving assembly, and second motion data which is measured by a second motion measuring device and is associated with the driving assembly; the driving assembly can drive the multi-dimensional platform, and the motion measurement mode of the first motion measurement device is different from the motion measurement mode of the second motion measurement device; and checking the pose of the multi-dimensional platform according to the first motion data and the second motion data to obtain a pose checking result. According to the method, the first motion data and the second motion data are acquired through the two motion measuring devices respectively, so that the pose of the multi-dimensional platform can be verified through a mutual verification mode of the first motion data and the second motion data, and therefore, compared with a pose verification mode which only depends on a motor encoder in related technologies, the pose verification efficiency is greatly improved. And a more accurate pose verification result can be obtained.

The application discloses a kind of floating wind turbine aerodynamic simulation real-time hybrid experiment method and system, method includes: S1, constructs floating platform physical scale model and high-frequency load analysis model;S2, simulation analysis is carried out to high-frequency load analysis model, and load F simu Is obtained;S3, scaling is carried out to F simu , and the load F scall of scale model is obtained;S4, F scall It is sent to scale model to produce wind wheel synthetic thrust and coupling pitch moment, and excitation scale model motion;S5, the physical six-degree-of-freedom motion value L scall Of scale model is measured, and scaling is carried out to full-size six-degree-of-freedom motion value L full ;S6, when L full / L simu It is less than set value, real-time hybrid test under turbulent flow wind and wave condition is carried out.The application can simultaneously satisfy reynolds scale law and Froude scale law to characterize the motion response of floating unit system.

The application provides a method for improving image splicing precision and positioning precision of a portable printing and copying machine. The method effectively overcomes image splicing and positioning precision errors caused by local measurement errors of a motion tracking sensor and sparseness of image features used for registration, thereby improving image scanning splicing quality and printing image splicing quality of the portable printing and copying machine. By using the method in the application, the image splicing or positioning precision is less than 0.2 mm, and there is no cumulative error, even if there is an error within 1% in local motion measurement or there is no effective visual feature in a 10cm*10cm range of a printing image.

An apparatus configured to be removably attached to a vehicle includes a data collection device that is removably attachable to the vehicle. The data collection device includes an enclosure including a motion measurement sensor housed therein, and a mounting mechanism. The enclosure including the motion measurement sensor housed therein is configured to measure parameters that are used for calculating vibrational anomalies of the vehicle. The mounting mechanism is removably attached to the enclosure including the motion measurement sensor housed therein. The mounting mechanism has a proximal end and a distal end. The proximal end of the mounting mechanism has a fixative for removably attaching the mounting mechanism to the enclosure including the motion measurement sensor housed therein. The fixative is immobile with respect to the enclosure immediately upon attachment to the enclosure including the motion measurement sensor housed therein. The fixative thereby does not require further movement with respect to the enclosure including the motion measurement sensor housed therein immediately upon attachment to the enclosure including the motion measurement sensor housed therein. The distal end of the mounting mechanism is a vehicle mounting interface configured to allow the data collection device to be removably attached to the vehicle.

The invention discloses a self-traceability grating interference type inter-workpiece cosine installation error in-situ detection method, and belongs to the technical field of precision measurement, and the method comprises the steps: depositing self-traceability gratings on two to-be-detected workpieces respectively, and measuring grating interference signals at the same time through two self-traceability grating interferometers which move cooperatively; the period direction of a certain self-traceability grating is adjusted to be consistent with the direction of a motion measuring shaft of a high-precision displacement table, and two reading heads of a self-traceability grating interferometer are ideally installed relative to respective gratings by debugging interference optical signals; along with the displacement of the self-traceability gratings, two reading heads of the self-traceability interferometer respectively collect displacement signals of the two self-traceability gratings at the same time; and the cosine installation error between the workpieces is calculated by comparing the ratio of the number of original signal cycles collected by the two reading heads. By adopting the method, the problem of workpiece cosine installation error in-situ detection is solved, and the method has the advantages of magnitude self-calibration, high measurement precision and environmental interference resistance.

Methods and systems for reconstructing a route traveled by a vehicle using motion sensor data are provided. In some embodiments, a method comprises receiving motion measurements from a plurality of sensors in a vehicle during a drive. An estimated sequence of turns and distances traveled before and after each turn is extracted from the motion measurements. A start location and an end location of the drive are determined. Candidate routes between the start and end locations are selected from historical routes, each comprising a sequence of turns and distances along road segments within a road network. The candidate routes are compared with the estimated sequence to determine mismatch scores. Based on the mismatch scores, the route traveled by the vehicle is identified. An interactive graphical user interface on a mobile device receives a request to display the drive on a map and displays the identified route in response.

The application discloses a kind of single-point mooring chain and anchor chain disc connection damage monitoring and inhibiting device and method, it is related to the inner turret type single-point mooring safety monitoring and protection technical field, the device is set in the tower body structure under the turret of the inner turret type single-point mooring system, including: motion measurement module, contact load measurement module, mooring chain measurement module, collaborative control module and inhibiting drive module, motion measurement module is used to obtain the motion characteristics of turret;Contact load measurement module is used to measure contact interface load and wear amount;Mooring chain measurement module is used to obtain chain body posture and tension;Collaborative control module carries out damage grade determination and instruction output;Inhibiting drive module executes pre-tightening force adjustment, mechanical locking and wear compensation to realize hierarchical inhibition.The application solves the problem of insufficient in-situ monitoring capability of contact interface in the prior art, lack of active inhibition means, realizes in-situ perception, intelligent determination and hierarchical inhibition of intelligent control of the damage of mooring chain and anchor chain disc connection.

Systems, methods, and apparatus, including computer programs encoded on computer-readable media, for obtaining nuclear magnetic resonance (NMR) measurements of a subsurface formation in a well system. NMR echo data having motion artifacts may be determined in response to performing downhole NMR measurements using an NMR tool. A motion indicator may be determined based on echo measurements performed using two or more acquisition windows within each of a plurality of echo waveforms of the NMR echo data. Motion data may be determined based on one or more non-NMR motion measurements obtained from one or more downhole well devices. A motion hyperparameter may be selected based on the motion data and a motion correlation mechanism. Corrected NMR echo data having reduced motion artifacts may be determined based on the motion indicator and the selected motion hyperparameter. Subsurface formation properties may be determined from the NMR echo data having reduced motion artifacts.

The utility model discloses a distance measuring device after installation of railway tracks, which belongs to the technical field of track installation and comprises a gauging rule body, a first fixing seat is fixedly installed on the surface of the gauging rule body, a first rotating shaft is rotatably installed on the first fixing seat, a rotating seat is fixedly installed on the outer surface of the first rotating shaft, and a second fixing seat is fixedly installed on the outer surface of the rotating seat. A rotating shaft II is fixedly mounted on the rotating seat, a fixed seat II is rotatably mounted on the outer surface of the rotating shaft II, and a mounting shell is fixedly mounted on the surface of the fixed seat II; by arranging the first fixing base, the rotating base and the second fixing base to be used in cooperation with the mounting shell and the mounting inner rod, the effect that the gauging rule body can be pushed to move for measurement without bending down can be achieved through cooperative use of a grab rail on the mounting inner rod, the measurement operation convenience is improved, and the rotating base and the first fixing base as well as the rotating base and the second fixing base are rotationally arranged; therefore, the installation shell can be rotated and folded after use, and the whole body is convenient to carry and use.

The invention discloses a synoptophore, and belongs to the technical field of ophthalmology medical instruments. The synoptophore comprises a display system, an image acquisition system, an optical system, a motion measurement system and a control module, wherein the display system at least can display pictures and is observed by a user through the optical system; the image acquisition system can acquire eye images of the user; the motion measurement system can drive the lens cone to rotate and measure the rotation angle of the lens cone. The control module can analyze and process the eye image of the user to determine the position of a light reflecting spot, or determine the position of the light reflecting spot and the center position of a pupil, and determine the Kappa angle number based on the position of the light reflecting spot, or determine the objective strabismus angle number based on the position of the light reflecting spot, the center position of the pupil and the rotation angle of the lens barrel. Or the subjective squint angle number is determined based on the lens barrel rotation angle. According to the invention, the testee can complete measurement independently by himself / herself, operation by related professionals is not needed, the operation difficulty is reduced, and the user experience is improved.

Non-contact and non-destructive systems and Methods for crack detection that can accurately detect even the smallest cracks and defects such as SCCs in thick materials and structures are disclosed. The systems and methods described herein include a laser ultrasonic inspection system that utilizes guided ultrasonic waves (GUW) for crack inspection and quantification on materials and structures. The systems and methods described herein may include, but are not limited to, a pulsed laser emitter that emits a pulsed laser beam for exciting ultrasonic guided waves propagated into the material or structure to be tested and a scanning Doppler vibrometer take non-contact vibration measurements (i.e., wave motion measurements) of the excited waves within material or structure to be tested. In embodiments, the systems and methods described herein may also include a thin metal material adhered to, attached to, or positioned on the surface of the area of the material or structure to be tested. The systems and methods described herein generate wave images for both area scans and line scans of the test structure and based on the wave images also generate energy map images to identify the presence of cracks and / or defects in the structure / material to be tested.

The application provides a wave motion compensation method and system for a floating laser radar wind measurement system, and relates to the technical field of laser radar wind measurement.The application obtains synchronous wind field, wave field and sea current field data, and constructs an environmental disturbance model by fusion;then, the model identifies the direction and frequency characteristics of the main disturbance force, and accordingly, a damping process is performed on the laser radar sensor head, a first damping force is applied to the target direction high-frequency impact and wind pressure pulsation, and a second damping force is applied to the non-target direction low-frequency rigid body motion;then, the motion measurement data of the damping process are input into a fusion filter, the motion state information of the sensor head and the corresponding weight are analyzed in combination with the environmental disturbance model;finally, based on the information, a robust control algorithm is used to generate a compensation control signal, the wave motion compensation of the measurement data of the floating laser radar wind measurement system is completed, the interference of the wave motion on the floating laser radar wind measurement can be effectively offset, and the wind measurement data precision is improved.

The application relates to the technical field of motion capture, and discloses a motion capture anti-reflection identification method based on a ring-shaped sticker mark in an ice-water mixed environment. The method first arranges a ring-shaped sticker mark with a three-layer concentric ring structure on the surface of measured floating ice, and arranges multiple high-speed cameras in a high-position overhead manner and synchronously collects images; after pre-processing the collected images, candidate targets are obtained through area and roundness double-threshold screening; the candidate targets are verified based on the fixed interval geometric constraint of double mark points on the floating ice, and interference signals are removed through time sequence continuity filtering, so that real mark points are finally obtained for three-dimensional motion reconstruction. The application can effectively suppress mirror surface highlight interference in the ice-water mixed environment, improve the mark point identification accuracy and anti-interference ability, and is suitable for high-precision motion measurement in polar scientific investigation, ice area ship testing and other scenes.