1202 results about "Traction unit" patented technology

A system for warning drivers of the movements semi-tractor and trailer vehicles of the semi-tractor's intended course, and warning drivers of other vehicles around the semi-tractor of the course and intended movement of the semi-tractor. An example includes a closed circuit video display system including cameras mounted at the front corners of the semi-tractor, cameras mounted at the rear of the trailer, and cameras mounted from a central area of the semi-tractor trailer. The system also uses a written message display system having display modules that display messages to vehicles near the semi-tractor. The displays can be used to present various pre-programmed messages or messages created by the driver of the semi-tractor through a message input interface, allowing the driver of the semi-tractor to provide customized massages to other nearby drivers.

The invention relates to an unmanned tractor operation path tracking and machine tool cooperative control system and method, and the system obtains the position and posture of a tractor, machine tool operation parameters and topographic information in real time through fusing the data of multi-source sensors, such as GNSS positioning and laser radar topographic perception. A multi-objective optimization function including a path tracking error, an operation precision error and a ground vibration excitation amount is constructed, and a particle swarm-genetic algorithm (PSO-GA) hybrid optimization algorithm is introduced for result optimization, so that cooperative control of tractor unit operation parameters such as a steering angle, a vehicle speed and a machine tool hydraulic parameter is realized. According to the method, in the operation of the unmanned tractor in the hilly terrain, the path tracking error is effectively reduced, the operation uniformity is improved, the influence of terrain factors on the operation is reduced, and the operation efficiency and the equipment durability under complex working conditions are remarkably improved.

The invention provides an auxiliary device for cable laying, and belongs to the technical field of cable construction, the auxiliary device for cable laying comprises a tractor, a clamping mechanism, a traction assembly and a reset assembly, the clamping mechanism is arranged on the tractor, and the clamping mechanism is used for clamping and fixing a plurality of cables; the traction assembly is located at the cable laying tail end and used for driving the tractor to move towards the cable laying tail end. The reset assembly is arranged at the cable pay-off end and used for driving the tractor to reset to the cable pay-off end after the traction assembly cancels traction on the tractor. A splicing type sliding way is arranged between the traction assembly and the reset assembly, and the tractor moves on the splicing type sliding way. One end of the cable is fixed to the tractor through the clamping mechanism, the tractor drives the cable to move to the laying position through the traction assembly, workers do not need to drag the cable to walk in the whole process, and the laying efficiency of the cable is improved.

The invention relates to the technical field of rail transit automatic driving, and particularly discloses a rail transit train automatic driving control method, which is characterized in that a vehicle-mounted control center cooperates with a signal system, a traction unit and a braking system, and centimeter-level real-time positioning is realized by adopting extended Kalman filtering and fusing satellite positioning, an odometer and trackside beacon data; the parking precision of the platform is controlled based on a graded braking strategy (coasting-common-precise braking) and pulse type terminal point fine adjustment; the method dynamically adapts to line condition changes in combination with feedforward-feedback composite speed control, and establishes a multi-level safety monitoring network (obstacle detection / overspeed protection / vehicle door linkage) to realize full-process closed-loop control, and finally, high-precision, high-safety and high-coordination operation under unmanned driving is achieved.

A system for controlling a vehicle combination comprising a tractor unit and at least one trailing unit is disclosed. The system has a target generator to determine a virtual control input for the vehicle combination based on a reference input for the vehicle combination. A power manager determines a power allocation input for the vehicle combination based on the reference input and a power capability of one or more units of the vehicle combination. A combination control allocator determines a control input for the vehicle combination based on the power allocation input and the virtual control input.

The invention provides a laying construction system and method for a long-distance large-diameter cable in a cable trench. The laying construction system for the long-distance large-diameter cable in the cable trench comprises a traction device which is used for providing stable and adjustable pulling force in the cable laying process and ensuring that the cable stably moves along a preset path, and a guide device which is arranged at a key position in the cable laying path and prevents the cable from being twisted, deformed or damaged in the moving process. According to the laying construction system and construction method for the long-distance large-diameter cable in the cable trench, the problem is successfully solved by introducing a multi-segment traction device and a tension control system, and a segment traction unit in the traction device can independently adjust traction force according to actual conditions of different path segments; and the traction force of each section is ensured to be uniformly distributed through a real-time feedback system, so that the cable is prevented from bearing non-uniform tension in the moving process.

The invention discloses an anti-folding brake control method for a new energy tractor and a trailer, and belongs to the technical field of new energy vehicle braking. The method specifically comprises the steps that when braking is light braking, a tractor only starts electric braking, and a trailer starts slight air braking; when the braking is heavier braking, except for starting electric braking, all pneumatic brakes of the tractor provide corresponding braking air pressure according to calibration parameters, and the trailer provides corresponding pneumatic braking air pressure according to loads; when the braking is emergency braking, different braking air pressures are provided for each pneumatic brake of the tractor and the trailer according to pre-calibrated parameters, and then automatic adjustment is carried out according to wheel speed signals of all vehicles and signals fed back by a vehicle body stabilizing system. The braking force redistribution method is simple and is not limited by whether the trailer is provided with a power battery or not, the braking stability of the vehicle can be guaranteed, the kinetic energy of the vehicle can be recycled to the maximum extent, and the economical efficiency of the vehicle is improved.

The invention discloses a semitrailer battery energy transmission system and method based on an electric traction vehicle, belongs to the technical field of battery energy transmission, and aims to solve the problems that in the prior art, energy supply for a semitrailer is inconvenient, the actual transportation effect of the semitrailer is affected, and the transportation cost is increased. The system comprises an electric tractor and a semitrailer, the electric tractor is provided with an optical coupler, the electric tractor is provided with a traction seat and a first battery, the optical coupler is electrically connected with a control device, an ECU control unit and a vehicle end interface, the ECU control unit is electrically connected with a display, and the control device is provided with a plurality of control assemblies; the second battery is charged through the first battery, so that energy supply for the semitrailer is facilitated, the problem of insufficient energy of the semitrailer can be effectively solved, the transportation problem caused by insufficient energy of the semitrailer in the driving process is avoided, the logistics transportation efficiency is improved, and the logistics cost is reduced.

The invention discloses a new energy trailer power system, a control method, a trailer and a heavy truck, a front electric drive axle, a middle electric drive axle and a rear electric drive axle are sequentially arranged in the length direction of the new energy trailer, a power battery is arranged, and the power battery is connected with the front electric drive axle, the middle electric drive axle and the rear electric drive axle. The electric motor is used for providing electric energy for the front electric drive axle, the middle electric drive axle and the rear electric drive axle; a front electric drive axle, a middle electric drive axle and a rear electric drive axle are sequentially arranged on a new energy trailer to provide driving force, a power battery provides electric energy, and three bearing axles are replaced by three electric drive axles on the basis of an existing trailer, so that the refitting difficulty is reduced; and the new energy trailer can be matched with the tractor for auxiliary driving through the front electric drive axle, the middle electric drive axle and the rear electric drive axle, so that the dynamic property of the whole vehicle is improved, and meanwhile the front electric drive axle, the middle electric drive axle and the rear electric drive axle of the new energy trailer can be used for recycling braking energy so as to improve the economical efficiency.

The utility model discloses a compaction device for a side slope surface, which comprises a compaction roller component, a compaction roller liquid storage cavity and a compaction roller liquid injection hole, the compaction roller component comprises a compaction roller and a rotating shaft, the rotating shaft is rotatably connected with the compaction roller, a plurality of roller liquid storage cavities are arranged in the compaction roller, and each roller liquid storage cavity is provided with a roller liquid injection hole; the traction vehicle comprises a vehicle body and wheels, and the wheels are rotatably connected with the vehicle body; the traction device is arranged on the vehicle body, and the traction device is connected with the rotating shaft so as to drive the compaction roller to roll on the slope surface of the side slope; the weight box is arranged on the vehicle body and located on the side, away from the compaction roller, of the traction device, a plurality of weight liquid storage cavities are formed in the weight box, each weight liquid storage cavity is provided with a weight liquid injection opening, and the roller liquid storage cavities correspond to the weight liquid storage cavities one to one. The weight of the compaction roller and the weight box can be flexibly adjusted, and the adjustment of the weight of the compaction roller and the weight box does not need additional measurement work.

The invention discloses a vehicle power control method and device, electronic equipment, a storage medium and a vehicle, and relates to the field of vehicle control, and the vehicle power control method comprises the steps that a combination of a tractor is matched based on an electric drive trailer, and a vehicle-mounted power source comprises an engine and a motor; the whole vehicle torque is output based on power output coupling of an engine and a motor; acquiring control state and vehicle state information; according to the control state and the vehicle state information, torque demand information is generated; the information of the torque demand comprises torque demand information of the torque direction and the torque size of the driving or braking working condition; obtaining torque capacity information of the whole vehicle; the whole vehicle torque capability information comprises torque capability information of an engine and a motor; acquiring information of a torque economy strategy based on the torque capabilities of the engine and the motor; and based on the torque capacity of the engine and the motor and the torque economy strategy, the whole vehicle torque output state is controlled to meet the torque requirement.

The invention discloses a fertilizing method for agricultural steeping field rectification, and relates to the technical field of steeping field rectification, and the fertilizing method comprises the following steps: S1, enabling water to enter a field to steep the field, and standing for 3-5 days, S2, pulling a tractor into the steeping field, starting an electric hydraulic rod to push a traction frame to move, pulling a rotating plate to rotate along a bottom plate, and turning on the electric hydraulic rod; according to the invention, the structure is scientific and reasonable, the use is safe and convenient, the soil turning and crushing mechanism is arranged, the traction frame is pushed to move through the electric hydraulic rod, and the rotation plate is limited through the bottom plate, so that the operation is convenient, the operation is convenient, and the operation is convenient. A sliding plate drives an electric hydraulic rod and a traction frame to slide along a sliding groove, a rotating plate is driven to rotate, a rotating rod drives a soil loosening roller to descend and make contact with the field, follow-up soil turning is facilitated, and through cooperation of a driving gear, the rotating plate drives a swing plate to rotate.

The present invention relates to the technical field of hydrogen fuel cell vehicles, and in particular to a fuel cell vehicle self-range extension system and control method based on photovoltaic hydrogen production, comprising a tractor head and a tractor trailer; wherein the tractor head mainly uses a high-power fuel cell as a power source, comprises a hydrogen filling port, a high-pressure hydrogen storage bottle group, an ejector, a high-power fuel cell, a tail water collection box, an electrolysis device, a hydrogen / water separator, etc., and can convert solar energy obtained from the surrounding external environment by the tractor trailer into electrical energy during normal operation or parking of the hydrogen fuel vehicle, further reversely decompose the tail water discharged by the high-power fuel cell into hydrogen, and feed it back to the front-end hydrogen supply system of the whole vehicle, thereby realizing vehicle-level autonomous automatic fuel replenishment, effectively increasing the vehicle's driving range, and improving the fuel economy of the whole vehicle.

The invention relates to the technical field of oil and gas equipment, in particular to an oil pipe remote directional lifting system and method for under-pressure operation. In the process of lifting the oil pipe, the oil pipe is positioned and supported for at least two times. The system is composed of a control unit, a traction unit and a guide unit. The control unit sends signals to the traction unit and the guide unit in a remote control mode. The traction unit is responsible for clamping and stably lifting the oil pipe, and the guide unit is used for accurately positioning and centralizing the oil pipe in the lifting process, so that unnecessary swinging of the oil pipe caused by external factors can be prevented, more importantly, the oil pipe can be prevented from colliding with a wellhead operation platform, equipment is protected from being damaged, and the service life of the oil pipe is prolonged. And the oil pipe lifting operation is carried out in a remote operation mode, so that the personal safety of constructors is guaranteed, the opportunity that the constructors make direct contact with the dangerous environment is reduced, and meanwhile the operation precision and the working efficiency are improved.

A commercial vehicle having various GVWR configurations with a vehicle body with two or more axles, and a cab that does not pivot relative to the vehicle body, and a battery-electric-powered or hydrogen-electric-powered propulsion system. The vehicle has a center of gravity that is substantially lower, and a track width which is substantially narrower, than an articulating tractor-trailer combination with a trailer size comparable to the vehicle body of the present invention, providing substantially increased stability, and with all axles preferably being steerable E-axles, substantially improving the turning and trailing of the vehicle. Additional attributes are improved safety, increased payload weight and cubic capacity, higher productivity and lower maintenance costs. Many other advantages flow from this vehicle design.

The present disclosure relates to a method for determining a tractor longitudinal force threshold(FLTRret,threshold)for a tractor longitudinal retardation force(FLTRret)that can be imparted on a tractor of a vehicle combination including the tractor and a trailer for retarding the vehicle combination. The trailer has a trailer longitudinal extension in a trailer longitudinal direction (LTL), a trailer lateral extension in a trailer lateral direction (TTL) and a trailer vertical extension in a trailer vertical direction (VTL), and the tractor has a tractor longitudinal extension in a tractor longitudinal direction (LTR), a tractor lateral extension in a tractor lateral direction (TTR) and a tractor vertical extension in a tractor vertical direction (VTR ), wherein the tractor longitudinal retardation force(FLTRret)extends in a direction parallel to a tractor longitudinal direction (TTR).

The invention relates to a commercial vehicle (3) comprising a tractor unit (4) and a semi-trailer (5), wherein the tractor unit (4) has cameras, a satellite navigation system, side mirrors (7) and / or mirror replacement cameras (7) having a first field of view (B1), wherein a radar sensor (8) is arranged at the rear of the tractor unit (4) such that it detects a second field of view (B2) under the semi-trailer (5) or trailer, which includes an area of ​​shadowing (A) by the semi-trailer (5) lying outside the first field of view (B1), wherein the tractor unit (4) further comprises a lane change assistance system configured to monitor areas next to, behind and to the side of the commercial vehicle (3) for other vehicles (6.1 to 6.4), to determine the position, speed and acceleration of detected vehicles (6.1 to 6.4) and to predict when approaching vehicles (6.1 to 6.4) will4) are located next to or near the commercial vehicle (3), when one of the vehicles (6.1 to 6.4) enters an area critical for a lane change of the commercial vehicle (3), to issue a warning in the commercial vehicle (3), to increase a warning level of the warning issued to the driver when a direction indicator (10) of the commercial vehicle (3) is switched on, in this case then, if the vehicle (6.1 to 6.4) decelerates, to withdraw the warning or reduce the warning level, and otherwise to maintain the warning.

The invention relates to the field of slope stability monitoring, in particular to a slope stability monitoring device which comprises a traction unit and a fixing unit. The traction unit is used for dragging a steel wire rope at the top and the bottom of a slope, and the fixing unit is mounted on the steel wire rope and used for fixing an instrument for monitoring the slope on the steel wire rope; the traction unit comprises a frame body formed by a plurality of steel pipes in a criss-cross mode, inserting rods are arranged at the bottom of the frame body, the inserting rods are embedded in the top position of the side slope, a plurality of steel wire ropes are fixedly connected to the upper end of the frame body, each steel wire rope extends to the bottom position of the side slope from the top position of the side slope, and embedded parts for fixing the steel wire ropes are arranged at the bottom position of the side slope. According to the invention, the steel wire rope is arranged from the top to the bottom of the side slope, and the stay wire type displacement meter is fixedly arranged on the steel wire rope, so that the length of the stay rope extending out of the stay wire type displacement meter is shortened, the influence of the external environment is greatly reduced, and the accuracy of monitoring the stability of the side slope by the stay wire type displacement meter is improved.

The invention relates to a baby basket (1) for carrying babies, comprising a receptacle (2) for receiving the baby, a frame (3), and a spreading mechanism (4) that can spread the frame (3) and the receptacle (2) apart from one another when the frame (3) is in use. Furthermore, the baby basket (1) comprises at least one traction unit (12) that can generate a tensile force between the frame (3) and the receptacle (2) when the frame (3) is in use.

The invention discloses a mountain slope drilling device and a drilling method thereof, and relates to the technical field of mountain slope drilling. The mountain slope drilling device comprises a vehicle body, a drilling assembly and a traction assembly, the vehicle body is used for moving on the mountain slope, the drilling assembly and the traction assembly are arranged at the two ends, in the first direction, of the vehicle body correspondingly, and the traction assembly comprises a traction unit and a guide frame; the traction unit is used for collecting or releasing a traction rope, the guide frame corresponds to the traction unit and is arranged on the side, away from the vehicle body, of the traction unit, the traction rope is used for penetrating through the guide frame, and the other end of the traction rope is used for being anchored to the top of a mountain slope. The mountain side slope drilling device can solve the problem that drilling operation cannot be carried out on a high and steep side slope with the height higher than 15 degrees and lower than 45 degrees through drilling equipment, is suitable for drilling operation of the mountain side slope, and improves the working efficiency of side slope drilling under the condition that construction safety is guaranteed.

The invention discloses a thin-wall pipe fitting bending forming device and method, and belongs to the technical field of pipe fitting forming. The thin-wall pipe fitting bending forming device comprises a rack, a lower die is arranged on a workbench of the rack, a plurality of lower forming cavities are formed in the lower die, and an upper die matched with the lower die is arranged above the workbench; a supporting mechanism is arranged on the workbench and comprises a first sliding seat, and supporting units corresponding to the lower forming cavities one to one are arranged on the first sliding seat; a traction mechanism for pulling the pipe blank is arranged on the workbench, the traction mechanism comprises a second sliding seat, and traction units in one-to-one correspondence with the lower forming cavities are arranged on the second sliding seat; the supporting unit and the traction unit are located at the feeding end and the discharging end of the lower forming cavity correspondingly. By means of the thin-wall pipe fitting bending forming device and method, the problems that when an existing forming device conducts bending forming on a thin-wall pipe fitting, the supporting effect is poor, and the pipe fitting forming quality and forming efficiency are affected can be solved.

The present disclosure aims to provide a hitch assembly comprising a towing module, connection module, and locking unit. The towing module includes a towing head for connecting to a towed object and a main body having a first engagement portion on its peripheral surface. The connection module includes a connection segment for attaching to a traction vehicle and an accommodation chamber having a second engagement portion. The main body is receivable in the accommodation chamber and movable from a first position to a second position within the accommodation chamber. In the first position, the first engagement portion engages with the second engagement portion to prevent disengagement of the towing module from the accommodation space. In the second position, the first engagement portion is disengaged from the second engagement portion to allow axial withdrawal of the towing module along its longitudinal axis. The locking unit restricts movement of the main body from the first position toward the second position. This hitch assembly demonstrates high structural strength and extended service life.

The invention relates to the technical field of sheath material production, and discloses a low-smoke halogen-free sheath material forming device, which comprises a production mechanism, and is characterized in that a sheath material placed in the production mechanism is melted and extruded into a long-strip-shaped sheath material; the traction unit is connected with the production mechanism; the mounting seat is arranged on the traction unit, and a cutting mechanism is further arranged on the mounting seat; the transportation unit is connected with the traction unit, and the sheath material particles are raw materials used by the cable or the sheath in the cable; through the arrangement of the first traction part and the third traction part, long-strip-shaped sheath materials can be guided, limited and carded; and in the moving process of the carding piece, the third driving piece can adjust the position of the carding piece in the length direction and the radial direction of the limiting rod, supporting and limiting work on the long-strip-shaped sheath materials is achieved, multiple bundles of long-strip-shaped sheath materials are made to pass through the corresponding discharging openings, and production and processing work of the sheath raw materials for the cables is completed.

The utility model discloses a non-stop straw feed round bale packer, which belongs to the technical field of mechanical equipment, and comprises a traction frame arranged on a tractor, the traction frame is fixedly connected with a rack, a gear box is fixedly arranged on the traction frame close to the rack, a storage bin is arranged on the rack, and the storage bin is connected with the rack. A storage bin is installed on the rack, a picking device is installed at the end, close to the traction frame, of the rack below the storage bin, the picking device is matched with the storage bin, the end, away from the traction frame, of the storage bin is communicated with a round bale packing device, and a transmission mechanism is arranged among the gearbox, the picking device and the round bale packing device for connection. And a net wrapping device is mounted on the round bundle packing device.

Motor vehicle trailers (14) for events including: a chassis with a coupling device for a tractor (12); a frame structure surrounding an interior (22) of the motor vehicle trailer (14), wherein the frame structure is arranged on the chassis; wherein at least two separate compartments are created in the interior of the motor vehicle trailer (14), and at least one of the rooms is designed as a sanitary room (18) with a toilet (20).

The invention relates to the technical field of welded pipe welding, in particular to self-positioning butt-joint welded pipe welding equipment and method.The self-positioning butt-joint welded pipe welding equipment comprises a positioning base, a plurality of adjusting motors are arranged in the positioning base, the adjusting motors are fixedly connected with adjusting shafts, one side of the positioning base is fixedly connected with a fixed base, and the other side of the positioning base is fixedly connected with a movable base; the top of the fixed base is fixedly connected with a welding mechanical arm; the two ends of the positioning base are fixedly connected with traction units, and the top face of the positioning base is slidably connected with two butt joint units. In the initial state, the butt joint base is attached to the traction unit, and at the moment, the welded pipe is clamped through the clamping plate; then, a rotating disc can be rotated through a rotating shaft, an adjusting plate and a clamping plate are driven to rotate through rotation of the rotating disc, when the clamping plate rotates, the welded pipe can be driven to rotate, and when the welded pipe rotates, a V-shaped groove can be ground in the butt joint position through a grinding unit; and meanwhile, the V-shaped groove is welded through the welding mechanical arm.

According to the real-time speed calculation method for the motor train unit without the pure towing axle, a speed signal line is connected to an EBCU of each train through a shielding cable, and the single-train single-axle initial speed calculated by the EBCU of each train is transmitted to a TCMS through a network cable; the TCMS performs validity judgment according to the obtained data, obtains the speed of a single vehicle through comparison and calculation, and obtains the real-time speed of each traction unit through comparison and calculation; and when the real-time speed of the first traction unit is valid, the motor train unit preferentially selects the real-time speed of the first traction unit as the real-time speed of the motor train unit, and if the real-time speed of the first traction unit is invalid, the real-time speeds of the second, third and fourth traction units are sequentially selected as the real-time speed of the motor train unit. According to the method, the real-time speed of the motor train unit can be rapidly and accurately determined, the real-time speed deviation caused by the special state of the axle in the running process of the motor train unit can be effectively avoided, the method is more suitable for intelligent control of the motor train unit, and the safety and reliability of the motor train unit are improved.

The invention provides an intelligent oil pipe cleaning and separating operation line which comprises a feeding station, a detection station and a to-be-cleaned station which are arranged side by side, a detection device and a first offline conveying belt are arranged at the two ends of the detection station correspondingly, and an electromagnetic heating device and a cleaning station are arranged at one end of the to-be-cleaned station; the detection station and the to-be-cleaned station are respectively provided with a plurality of jacking traction units at intervals along a straight line, each jacking traction unit comprises a liftable traction wheel, the traction wheels abut against the lower end of the oil pipe to roll, and the problems of automatic cleaning and flaw detection of the oil drill pipe are solved.

The invention belongs to the technical field of wind power blade production and manufacturing, and particularly relates to a wind power blade web automatic gluing device which comprises a frame, a tractor is arranged on the frame, universal wheels arranged on the to-be-glued face of a web in a rolling mode are arranged at the bottom of the tractor, and power wheels abutting against the side faces of the web are arranged on the two sides of the bottom of the tractor. A gluing device, a first gluing positioner, a first width-variable glue type device and a first height-variable glue type device are sequentially arranged on a frame on the rear side of the tractor, and the first gluing positioner and the first width-variable glue type device are located on the two sides of a web gluing area respectively; one side of the frame is connected with a ground trolley through a connecting bracket, and a glue supply device is arranged on the ground trolley. According to the invention, the frequency of manual operation and the labor intensity of personnel are reduced, efficient, accurate and automatic gluing can be realized on the single web and the double webs of the wind power blade for die assembly, the automation level of die assembly is improved, the labor intensity of the personnel is reduced, and the material cost is saved.

The utility model relates to the technical field of road administration equipment, and discloses an asphalt pavement repairing device which comprises a tractor body, a stirring groove is formed in one side of the top of the tractor body, a stirring paddle is arranged at the center position in the stirring groove, and two heaters are fixedly installed on the other side of the inner bottom wall of the stirring groove in a front-back symmetry mode. A power box is arranged in the middle of the other side of the top of the tractor body, a driving shaft is arranged on one side of the bottom of the power box, and stirring paddles are fixedly connected to the bottom end of the driving shaft. The side-by-side double-compression-roller mechanism is arranged at intervals, namely, the groove is formed in the bottom of the other side of the traction vehicle body, the fixing frames are fixedly connected to the front end and the rear end of the inner top wall of the groove, and the two compression rollers are rotationally installed between the two fixing frames side by side at intervals; after the two compression rollers extrude the damaged asphalt surface of the crack poured with the asphalt mixture twice, the good compaction effect of the asphalt mixture in the crack of the damaged asphalt pavement can be achieved.