Inertial Labs MRU-B User Manual Download Page 1

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MRU

Demo Program Manual

Inertial Labs, Inc

Address:

39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377

Website:

www.inertiallabs.com

Motion Reference Unit

MRU-B, MRU-E

DEMO PROGRAM “MRU DEMO”

User’s Manual

Revision 1.1

Summary of Contents for MRU-B

Page 1: ...l Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Motion Reference Unit MRU B MRU E DEMO PROGRAM MRU D...

Page 2: ...d output data TSS1 HEHDT format and its description In sections 4 1 and Appendix C 2 Added Extended Initial alignment checkbox see Fig 4 2 and its description 3 Added section 10 2 3 Significant Wave H...

Page 3: ...5 2 Cockpit style of visualization 34 5 3 On the fly accuracy style of visualization 35 5 4 Data graphs style of visualization 36 5 5 Other items of the Run menu 38 6 File Menu 39 6 1 Open item 39 6 2...

Page 4: ...emo versions 81 13 Choice of 3D model for visualization of the MRU orientation 82 14 Troubleshooting 83 14 1 How to repair the MRU parameters 83 14 2 What do you have to do at strange behavior of the...

Page 5: ...should be restricted to only those who have read its user manual and are following the safety measures specified in that user manual Fig 1 1 Inertial LabsTM MRU Inertial LabsTM provides three types of...

Page 6: ...ing Linear Velocity Position Because MRU B has no magnetometers and does not measure heading some sections of this manual are not related to MRU B The Table 1 2 specifies sections which are associated...

Page 7: ...U E on hard and soft iron after mounting on carrier object see section 10 3 True or magnetic heading For MRU E only If the magnetic declination is set correctly then MRU E outputs true heading if magn...

Page 8: ...xtensions prm dat and bin when saving text or graphical data Additionally the operator can create files with the extensions txt and rtf Requirements to the system resources The software requires 6 Mby...

Page 9: ...USB port with a COM to USB converter see Appendix A Installation of the COM to USB converter drivers and configuration of PC parameters for more details If you use the MRU with RS 422 interface you n...

Page 10: ...software contains the following items see Fig 3 1 Fig 3 1 File Menu contains standard Windows file management commands Fig 3 2 Run Menu contains the MRU control commands Fig 3 3 Parameters Menu contai...

Page 11: ...Website www inertiallabs com 11 Fig 3 5 Fig 3 6 Fig 3 7 Icons for the most often used commands are placed on toolbars Run MRU visualization F4 Stop MRU Parameters Save parameters Restore parameters C...

Page 12: ...tiallabs com 12 4 Options Menu 4 1 Test options To set operation parameters of the MRU COM port format of output data select Test options Fig 3 7 from the Options menu or click button A Test Options d...

Page 13: ...U which was already started before the running of the MRU Demo software See section 10 5 for details Create separate run folder allows automatic creation of separate data folder for each run On defaul...

Page 14: ...NMEA TSS1 TSS1 HEHDT For more information on the output data format see Appendix C The default value is MRU Calibrated Data output format 4 2 Devices options To set and control of MRU operation param...

Page 15: ...which the MRU unit is connected to and also it depends on chosen output data format see Fig 4 1 because of different number of transferred bytes See section 4 2 4 Limitation of the MRU maximum measur...

Page 16: ...m a keyboard or by automatic calculation by click on Calculate button using Latitude Longitude Altitude and Date values Default value of the magnetic declination is set to 0 Notes 1 It is necessary to...

Page 17: ...e working with the Options menu it is desirable to select Stop MRU in the Run menu or press F7 key Fig 3 3 Note Device option item is available only if MRU is powered and MRU is connected to computer...

Page 18: ...e pressure sensor that is used for heave calculation in the MRU see Fig 4 4 Fig 4 4 You can change next parameter in the Pressure sensor tab of Devices Options window Baro altimeter enabled checkbox a...

Page 19: ...and it is supported by MRU Demo Program since version 2 0 19 78 from 03 18 2016 2 To allow baud rate change the MRU unit must be connected to computer and powered 3 Standard COM port of a host compute...

Page 20: ...evices Options IMU tab see Fig 4 2 and choose necessary baud rate from the list as Fig 4 6 shows After the baud rate choice click OK button to load changed parameters to the MRU nonvolatile memory The...

Page 21: ...Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 21 Fig 4 6 Fig 4 7 Fig 4...

Page 22: ...ndix C Table C 2 to Table C 5 for payload length of binary output data formats The package_length of the text output data formats correspond to their structure shown in Appendix C Table 4 1 contains d...

Page 23: ...k Yes button to correct entered measurement rate or No to ignore this warning The last case makes sense if user wants to choose another output data format in the Test Options with less length of data...

Page 24: ...will be opened see Fig 4 11 There are two tabs Settings tab contains Extrapolation time parameter see Fig 4 11 Since MRU Demo Software ver 2 0 15 from 01 15 2016 it is possible to use prediction of o...

Page 25: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 25 Fig 4 12...

Page 26: ...ing its axes X Y Z are parallel to the carrier object lateral longitudinal and vertical axes then the MRU position should be measured in the directions of the MRU X Y and Z axes If the MRU unit is mou...

Page 27: ...that should be deleted from calibration procedure because of MRU E was not moved at this procedure Default value 1000 nT2 is set by developers and can be changed after agreement with them Inclination...

Page 28: ...ron section are used to estimate the calibration quality in terms of possible MRU E heading accuracy H filter time constant is parameter for filtration of measured horizontal component of the Earth ma...

Page 29: ...e MRU is done by the commands in the Run menu Fig 3 3 This menu contains next items MRU visualization opens appropriate tab with different variants of visualization of the MRU operation Stop MRU stops...

Page 30: ...5 1 To go to this visualization stile select MRU visualization from the Run menu Fig 3 3 select on the toolbar or press F4 button Some additional 3D models may be used for visualization of the MRU or...

Page 31: ...of the main window During the initial alignment the MRU has to be stationary relative to the Earth Once the initial alignment time is over observe changes in numeric data and graphical evolutions of...

Page 32: ...column angles calculated in the MRU s microprocessor using the embedded main algorithm are output The Magn Acc column shows orientation angles calculated in the MRU Demo Software using simplified alg...

Page 33: ...locity on Heave Surge Sway m s k The Baro data column shows data measured by the pressure sensor Temp degC is temperature in C Press Pa is pressure in Pascals If Significant Wave Height calculation ch...

Page 34: ...To switch visualization to this mode click on preview shown in the Fig 5 2b and window shown in the Fig 5 3 will appear There is heading indicator in the upper left corner of the tab In the center par...

Page 35: ...yle of visualization On the fly accuracy feature is designed for checking the MRU accuracy during its ordinary operation when the MRU can be directed to points with known orientation To switch visuali...

Page 36: ...ndow shown in the Fig 5 5 will appear Fig 5 5 It is possible to select the signals you want to display by right click on the graphs area As a result window shown in the Fig 5 6 will appear Plotted gra...

Page 37: ...ftware based on the MRU accelerometers data in degrees Gyro X deg sec plots output signal of the gyro X in deg sec Gyro Y deg sec plots output signal of the gyro Y in deg sec Gyro Z deg sec plots outp...

Page 38: ...r items of the Run menu Stop MRU stops the MRU In most cases it is used for correct termination of completed operations For this command the hot key F7 can be also pressed or the button can be clicked...

Page 39: ...g an MRU run To open the saved bin file choose the Open option Fig 3 2 or press F3 The standard window Windows Open will appear in which it is necessary to choose needed bin file saved previously when...

Page 40: ...rection To zoom out please click and hold left button on mouse and drag mouse in up left direction Click and hold right button on mouse to drag the plot Legend is located at the left upper corner of t...

Page 41: ...rs Restore parameters command see Fig 3 4 is used to quickly load the MRU parameters to the MRU nonvolatile memory When Restore parameters command is selected or button is clicked a standard Windows O...

Page 42: ...t MRU Demo version contains preset parameters for the next conditions of the MRU operations Marine device parameters Loaded from file To modify MRU parameters select Preset parameters item from the Pa...

Page 43: ...on Fig 7 1 In such case Inertial Labs can provide additional prm file with specific set of the MRU parameters Select the Loaded from file check box to load parameters of specific algorithm from prm fi...

Page 44: ...ess 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 44 Note It is possible to use Load from file item since MRU Demo Soft...

Page 45: ...o software allows taking into account influence of the soft and hard iron of the carrier object on the heading calculation accuracy For this purpose field calibration of the MRU E magnetometers is pro...

Page 46: ...ibration parameters Reads out the MRU flash memory Start2DClb Start2D2TClb Start3DClb StartVG3DClb 0x21 0x22 0x23 0x25 Starts the 2D 2D 2T 3D or VG3D calibration Stop lbRun 0x20 Early stops data accum...

Page 47: ...the VG3D calibration When the MRU E answers on above commands then these answers appear in the Response window see Fig 8 2 Different buttons will be active depending on calibration type See additiona...

Page 48: ...e MRU E is calibrated Their values are set in the Device Options window see Fig 4 2 Fig 8 3 In the Calibration Type field choose from a list the type of the calibration 2D 2D 2T or 3D see section 10 3...

Page 49: ...trices for magnetometer biases and scale factors in MRU E memory should be cleared by clicking on the Clear button see Fig 8 3 8 3 Angles accuracy To check accuracy of the MRU set precisely its attitu...

Page 50: ...Y of the MRU on angles specified in the column Angles see Fig 8 4 In the left part of check accuracy window there is a button Devices by clicking on which the window Devices Properties is opened see F...

Page 51: ...by means of necessary value keyboard input The default value is 20 Fig 8 5 Fig 8 6 During accuracy tests it is possible to take into account misalignment angles of the MRU installation on a test bench...

Page 52: ...or continuation of testing MRU after any possible failure in work In that case for loading the previous measured data the button Load Data is used Notes 1 The filename Accuracy_ txt consists of the wo...

Page 53: ...andard Windows Open window is opened In this window operator selects one of the bin files saved previously when the MRU was operating in its ordinary mode Consequently a report file with same name but...

Page 54: ...appear Fig 3 1 Step 3 Select Test options from the Options menu see Fig 3 7 or click button Test option window Fig 4 1 will open Step 4 Set the correct port number in the Serial port field and its bau...

Page 55: ...he monitor and the MRU real position it is recommended to place the MRU in parallel with the monitor before the beginning of work as follows direct lateral axis X to the monitor and direct longitudina...

Page 56: ...e name Step 13 Repeat Step 9 Step 12 as many times as you need Step 14 To close standard operation mode window Fig 5 1 Fig 5 5 click the icon in the title of current tab Step 15 Select Stop MRU Fig 3...

Page 57: ...er Also to decrease noise the Low Pass LP filter can be applied Values of HP and LP cutoff frequencies fh_HP and fh_LP for the heave filter can be set in the Heave calculation tab of the Correction Op...

Page 58: ...desirable point on the carrier object for heave calculation For this purpose please set coordinates of this point relative to the MRU position in the object axes on the right forward and up in the He...

Page 59: ...ration pitch and roll angles must be as close to zero as possible 3D calibration is designed for carrier objects that can operate with large pitch and roll angles For this calibration the carrier obje...

Page 60: ...onian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 60 Y X A A Fig 10 1 Rotation of a carrier object with MRU E in horizontal plane Z X Fig 10 2 Rotation of...

Page 61: ...ates Latitude Longitude Altitude and Date n accordance with place where MRU E is calibrated Their values are set in the Device Options window see Fig 4 2 Step 4 Select Mag Field Calibration item from...

Page 62: ...NEXT_REQUESTED asks to click the Next button to start the calibration run STOP_REQUESTED informs you can click Stop button to stop calibration run EXIT_REQUESTED informs you can click Exit button to...

Page 63: ...accumulating data This is signified by the highlighted caption DATA_ACCUMULATING and the progress bar of data accumulation in the status line see Fig 10 6 At this time rotation of the carrier object...

Page 64: ...esult increase the angles range as much as possible Note the MRU Demo Software provides estimation of 3D calibration quality in terms of possible MRU E heading accuracy To allow this possibility it is...

Page 65: ...tely constant pitch and roll After time of the first run of the MRU E rotation will be reached result window will appear see Fig 10 8 Based on the calibration accuracy it is necessary to accept or dec...

Page 66: ...If calibration quality is acceptable caption ACCEPT_REQUESTED is highlighted see Fig 10 11 If the MRU E detected not successful initial alignment or other mistakes in MRU E operation then repeat Step...

Page 67: ...utton on mouse to shift plot To zoom out please click and hold left button on mouse and drag mouse in up left direction Legend is located at the left upper corner of the tab This legend shows mean val...

Page 68: ...le was saved 2 digits of hours 2 digits of minutes 2 digits of seconds The last symbols in filename corresponds to type of the performed calibration _2D corresponds to data of 2D calibration _3D for 3...

Page 69: ...E memory follow Step 1 Step 2 from the item 10 1 Then select Mag Field Calibration item from the Plugins menu and click the Clear button in opened window see Fig 8 3 Soft and hard iron calibration pa...

Page 70: ...are cleared in the MRU E then capture Soft hard iron corrected disappears 10 3 3 Conditions of successful calibration of the MRU E Success of the MRU E calibration on soft and hard iron of the carrie...

Page 71: ...environmental magnetic field at which the MRU E heading accuracy after calibration is satisfactory If the MRU E calibration procedure was performed in the strict accordance with procedure described in...

Page 72: ...ngles See section 5 3 On the fly accuracy style of visualization Angles accuracy is more convenient for further analysis In this case separate data file is created for each tested MRU position On the...

Page 73: ...le the measurement in each position of the MRU and chooses if necessary Temperature Sensor for the temperature control Step 12 If angles of obliquity of the MRU set on the test bench platform are know...

Page 74: ...sured by MRU 10 4 2 On the fly accuracy test Step 1 Carefully set MRU by two reference surfaces on platform of the test bench designed for accuracy check Step 2 Step 7 Perform Step 1 Step 6 from the i...

Page 75: ...ive or absolute azimuth and pitch elevation select Heading or and Pitch checkboxes see Fig 10 15 Enter values according to true reference angles This angles can be set using arrows or by entering the...

Page 76: ...ative position can be set in degrees or in mils depending on chosen item in drop down list deg mils Relative azimuth in degrees is considered to be positive in case of clockwise rotation from referenc...

Page 77: ...mouse to shift plot Fig 10 17 Step 13 To stop the accuracy test click the Stop button Alternatively if the MRU data was writing and the time set in Record time in the Options Test option menu was rea...

Page 78: ...Vdd USW L USW H 1 15 44 47 200 09 0 33 0 09 200 11 200 06 nan 0 5 917 0 0 2 15 45 08 210 04 0 29 0 15 210 07 210 07 nan 0 5 918 0 0 3 15 45 29 220 07 0 25 0 21 220 1 220 08 nan 0 5 918 0 0 4 15 45 52...

Page 79: ...g 4 2 To allow this option the MRU should be connected to PC and powered The drop down list Auto start contains lisr of all available output data formats see Fig 10 18 Please choose desirable output d...

Page 80: ...roprocessor is completed After that the MRU starts calculations and its LED indicator changes color to green Step 2 Wait not less than set time for the initial alignment 30 seconds on default and run...

Page 81: ...ive for the user Status of each bit of the USW warning byte is specified in the Appendix D The Unit Status Word definition 12 Control of compatibility between the MRU firmware and MRU Demo versions Fi...

Page 82: ...ed from the Run menu The default 3D model is an aircraft as Fig 5 1 shows Other models are on CD in the subfolder 3D_Models of the folder with the MRU Demo software There are files model mgl which con...

Page 83: ...t options window Fig 4 1 will open 4 Select the correct port number and its rate Baud rate 115200 Click Note For the number of the port to which the MRU is connected see items 2 Installation of driver...

Page 84: ...r of the MRU It must correspond to serial number that is placed on label on MRU s nose If MRU s n doesn t correspond to serial number of the connected MRU then you must restore original parameters as...

Page 85: ...RU Demo Software the most of operations are started with reading data from the MRU nonvolatile memory to control correct MRU status For this purpose the MRU should be powered and connected to COM port...

Page 86: ...tandard COM port for guaranteed reliable operation of the MRU If connection of the MRU to a computer is done through a USB port it is necessary to install a COM to USB converter driver The converter d...

Page 87: ...pear on the display Check Include this location in the search and click on Browse Show the path to the converter drivers folder in the window Fig A 4 which appears on the top of the previous one folde...

Page 88: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 88 Fig A 3 Fig A 4...

Page 89: ...ax 1 703 935 8377 Website www inertiallabs com 89 Fig A 5 If the program finds the necessary files it will automatically start the driver installation If installation is completed successfully the win...

Page 90: ...th to the driver files in the window in Fig A 3 Fig A 7 Once the converter driver is installed you will need to know the number of the additional COM port set by the system and configure parameters of...

Page 91: ...Website www inertiallabs com 91 Fig A 8 Next open the Properties window of this port USB serial port COMN Properties Fig A 9 and press the Advanced button In the opened Advanced Settings for COMN wind...

Page 92: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 92 Fig A 9 Fig A 10...

Page 93: ...f problems in COM to USB driver operation please make one more adjustment of the driver In the Device Manager window see Fig A 9 go to the Universal Serial Bus controllers section item USB Serial Cont...

Page 94: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 94 Fig A 12...

Page 95: ...LabsTM MRU with RS 422 interface can be connected to PC USB port using Serial to USB MOXA 1130 converter which is supplied with the MRU unit by the Inertial Labs In this case it is necessary to instal...

Page 96: ...een installed to Fig B 2 Click Next to continue installation Then window shown on the Fig B 3 will appear In the address box put location and name of the program s shortcuts and click Next button Wind...

Page 97: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 97 Fig B 3 Fig B 4...

Page 98: ...the System Properties window in the Hardware page In the opened Device Manager window see Fig B 6 select device Uport 1130 in the Multiport serial adapters group Double click on this device to show it...

Page 99: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 99 Fig B 6...

Page 100: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 100 Fig B 7 Fig B 8...

Page 101: ...lled and configured you will need to know the number of the additional COM port set by the system and configure parameters of this port for correct operation of the MRU To do this go again to the Devi...

Page 102: ...er has possibility to work with binary file directly below is description of the binary bin file This file structure copies structure of the MRU output data that is described in the Inertial Labs MRU...

Page 103: ...yte sword 9 2 byte sword 2 byte sword 2 byte sword 2 byte word 2 byte word 2 byte sword Note Orientation angles deg 100 Raw sensor data gyros accelerometers magnetometers Combi ned voltage Temper atur...

Page 104: ...city Sway velocity P_bar or Hs H_bar Length 4 byte integer 2 byte sword 2 byte sword 2 byte sword 2 byte sword 2 byte sword 2 byte word 4 byte integer Note m 100 m 100 m 100 m s 100 m s 100 m s 100 Pa...

Page 105: ...r Length 4 byte integer 2 byte sword 2 byte sword 2 byte sword 2 byte sword 2 byte sword 2 byte word 4 byte integer Note m 100 m 100 m 100 m s 100 m s 100 m s 100 Pa 2 or m 100 m 100 Notes 1 See detai...

Page 106: ...meter range Gyro range deg sec 250 or 300 450 or 500 1000 2000 KG 100 50 20 10 Accelerometer range g 2 6 8 10 15 KA 10000 5000 4000 2000 2000 2 Angular rates linear accelerations and magnetic fields a...

Page 107: ...t data format the MRU provides accelerations heave pitch and roll message in the commonly used TSS1 message format The TSS1 data string consists of five data fields and contains 27 printable ASCII cha...

Page 108: ...99 99 CR Carriage return LF Line feed At the TSS1 HEHDT output the MRU provides the TSS1 message format supplemented with the HEHDT message format The general forms of the TSS1 HEHDT sentences are th...

Page 109: ...iallabs com 109 C 2 Text presentation of output data formats User can choose one of the formats to view and save MRU data depending on the necessary information see Fig 4 1 In the beginning of each fi...

Page 110: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 110...

Page 111: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 111...

Page 112: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 112...

Page 113: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 113...

Page 114: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 114...

Page 115: ...MRU Demo Program Manual Inertial Labs IncTM Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 115...

Page 116: ...gnetometer is detected Table D 1 The Unit Status Word description Bit Parameter Performance Low failure byte 0 Initial Alignment 0 Successful initial alignment 1 Unsuccessful initial alignment due to...

Page 117: ...1 0 Y angular rate is within the range 1 Y angular rate is outrange 12 0 Z angular rate is within the range 1 Z angular rate is outrange 13 Large Magnetic Field Detect 0 Total magnetic field within th...

Page 118: ...allation of the MRU on carrier object the MRU X Y Z axes should be parallel to the object lateral longitudinal and vertical axes Fig E 1 Coordinate system of the Inertial LabsTM MRU But the Inertial L...

Page 119: ...tudinal axis Y relative to longitudinal axes of the object measured in the horizontal plane of the object Clockwise rotation is positive second alignment angle is equal to angle of inclination of the...

Page 120: ...3 935 8377 Website www inertiallabs com 120 Fig E 2 Examples of the Inertial LabsTM MRU mounting on the carrier object a alignment angles are 0 0 0 degrees b alignment angles are 0 0 180 degrees c ali...

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