CN113534808A - Automatic driving navigation system based on block chain - Google Patents
Automatic driving navigation system based on block chain Download PDFInfo
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- CN113534808A CN113534808A CN202110825246.2A CN202110825246A CN113534808A CN 113534808 A CN113534808 A CN 113534808A CN 202110825246 A CN202110825246 A CN 202110825246A CN 113534808 A CN113534808 A CN 113534808A
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- 239000000575 pesticide Substances 0.000 claims abstract description 149
- 238000005507 spraying Methods 0.000 claims abstract description 127
- 238000012544 monitoring process Methods 0.000 claims abstract description 69
- 241000607479 Yersinia pestis Species 0.000 claims abstract description 49
- 238000013500 data storage Methods 0.000 claims abstract description 48
- 238000004364 calculation method Methods 0.000 claims abstract description 29
- 230000000694 effects Effects 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 7
- 239000005739 Bordeaux mixture Substances 0.000 claims description 4
- 239000005866 Lime sulphur Substances 0.000 claims description 4
- JNVCSEDACVAATK-UHFFFAOYSA-L [Ca+2].[S-]SSS[S-] Chemical compound [Ca+2].[S-]SSS[S-] JNVCSEDACVAATK-UHFFFAOYSA-L 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- OMZSGWSJDCOLKM-UHFFFAOYSA-N copper(II) sulfide Chemical compound [S-2].[Cu+2] OMZSGWSJDCOLKM-UHFFFAOYSA-N 0.000 description 2
- JPVYNHNXODAKFH-UHFFFAOYSA-N Cu2+ Chemical compound [Cu+2] JPVYNHNXODAKFH-UHFFFAOYSA-N 0.000 description 1
- 231100000674 Phytotoxicity Toxicity 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910001431 copper ion Inorganic materials 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- ZDXLFJGIPWQALB-UHFFFAOYSA-M disodium;oxido(oxo)borane;chlorate Chemical compound [Na+].[Na+].[O-]B=O.[O-]Cl(=O)=O ZDXLFJGIPWQALB-UHFFFAOYSA-M 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005089 fruit drop Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002244 precipitate Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an automatic driving navigation system based on a block chain, which is characterized in that: the system comprises an environment monitoring module and an automatic driving module, wherein the environment monitoring module is used for monitoring pest distribution conditions of a plantation, the automatic driving module is used for pesticide vehicle automatic driving navigation and pesticide spraying, the environment monitoring module comprises an infrared monitoring module, a density calculation module and a data storage module, the automatic driving module comprises a positioning module, a map analysis module, a planning module and a spraying unit, the infrared monitoring module is used for monitoring pest distribution in a pesticide vehicle monitoring range, the density calculation module calculates pest density in the monitoring range, the positioning module determines the position of the pesticide vehicle, the map analysis module is used for inputting a plantation map line, the planning module is used for pesticide vehicle automatic driving navigation, and the spraying unit is used for spraying pesticide.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic driving navigation system based on a block chain.
Background
Most of the existing pesticide spraying modes are uniform spraying modes, and in a pesticide spraying area, the concentrations of the pesticides in the center and the periphery are the same, so that the problems that the pest killing capability of the central dense area is insufficient, the pesticides on the periphery are excessively sprayed, the resources are wasted and the like can be caused.
According to scientific research, the mixture of different pesticides sometimes has side effects on crops, for example, Bordeaux mixture and lime sulphur mixture are respectively used for preventing and treating various diseases, but the mixture can be quickly chemically changed to generate dark brown copper sulfide precipitate, which not only destroys the original sterilization capability of the two medicaments. And the generated copper sulfide can further generate copper ions, so that serious phytotoxicity phenomena such as leaf drop, fruit drop, leaf and fruit burning spots, or drying shrinkage and the like can occur to plants. The two pesticides are mixed to produce opposite effects. The practicability is poor. In order to prevent the two pesticides from mixing together during the spraying process, it is necessary to design a block chain-based autopilot system with strong practicability.
Disclosure of Invention
The present invention is directed to an automatic driving navigation system based on a block chain, so as to solve the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: an automatic driving navigation system based on a block chain comprises an environment monitoring module and an automatic driving module;
the environment monitoring module is used for monitoring pest distribution conditions of the plantation, and the automatic driving module is used for automatic driving navigation and pesticide spraying of the pesticide vehicle.
According to the technical scheme, the environment monitoring module comprises an infrared monitoring module, a density calculation module and a data storage module, and the automatic driving module comprises a positioning module, a map analysis module, a planning module and a spraying unit;
the density calculation module is electrically connected with the data storage module, and the infrared monitoring module can detect infrared rays emitted by pests; the positioning module is electrically connected with the data storage module;
the intelligent pesticide spraying system comprises an infrared monitoring module, a density calculation module, a data storage module, a positioning module, a map analysis module, a planning module, a pesticide vehicle automatic driving navigation path and a spraying unit, wherein the infrared monitoring module is used for monitoring pest distribution in a pesticide vehicle monitoring range, the density calculation module calculates pest density in the monitoring range, analysis data is uploaded to the data storage module, a pesticide spraying position is determined, the pesticide vehicle position is determined by the positioning module, pesticide spraying coordinates are recorded, the map analysis module is used for inputting and analyzing a plantation map line, the planning module is used for setting the pesticide vehicle automatic driving navigation path, and the spraying unit is used for spraying pesticides.
According to the technical scheme, the automatic driving navigation system comprises the following specific working steps:
s1, inputting the map route in the plantation into a map analysis module, finishing automatic driving path planning of the pesticide vehicle by a planning module, uploading the position of the pesticide vehicle to a data storage module by a positioning module, and starting automatic driving of the pesticide vehicle according to the planned path of the planning module;
s2, the environment monitoring module starts to analyze and record pest distribution in the monitoring range, and when pests appear in the monitoring range, the pest number recorded by the density calculating module is uploaded to the data storage module;
s3, calculating pest population density in the monitoring range by the density calculating module,
(mu is pest population density, M is monitoring area, N is pest number in monitoring area), and uploading the calculated density result to a data storage module;
and S4, when the pest population density mu in the monitoring range M is larger than the preset pest population density value in the data storage module, judging that pests appear in the range, wherein the center of the monitoring range M is the pest center point, stopping the pesticide vehicle from moving, spraying the pesticide on the M center point by the spraying unit, and after the operation of the spraying unit is finished, continuing to automatically drive the pesticide vehicle according to the planned route.
According to the technical scheme, in the step S4, the pesticide spraying radius is R, the pesticide spraying concentration at the central point of the pest is P, the pesticide concentration at the radius R is 0, and the pesticide spraying concentration distribution has the characteristic that the middle is highest and the middle is linearly reduced outwards in sequence.
According to the technical scheme, the spraying unit further comprises a first spraying unit and a second spraying unit, the environment monitoring module further comprises a timing module and a spraying calculation module;
the spraying calculation module is electrically connected with the data storage module and is used for analyzing the distribution areas of the two types of pesticides and uploading data to the data storage module.
According to the technical scheme, the specific working mode of the timing module is to record the time T of each pesticide sprayingi(i ═ 1,2,3 … … n), and upload the data to the data storage module, the current of the timerThe time is T, so the pesticide volatilization time T is T-Ti。
According to the technical scheme, the specific calculation method of the spraying calculation module comprises the following steps:
the pesticide concentration is set as v, and the distance from the pesticide volatilization speed to the center point r
So that the radius of effect after spraying the pesticide
According to the technical scheme, the pesticide spraying method of the automatic driving navigation system comprises the following steps:
s5, when the automatic driving navigation system works for the first time, inputting the map circuit in the plantation into the map analysis module, and determining the coordinate range (-X) suitable for pesticide spraying according to the input circuita～+Xa，-Yb～+Yb) And recording the data into a data storage module;
s6, when spraying the pesticide of the first spraying unit, recording the coordinate value (X) of the center point of the M in the data storage module according to the record of the positioning module1，Y1) Then, the coordinates of the central point are uploaded to a data storage module (X) every time the pesticide spraying work of the spraying unit I is finished2，Y2)(X3，Y3)……(Xn，Yn)；
And S7, after the spraying of the first pesticide is finished, the spraying calculation module starts to calculate the pesticide spraying work of the second spraying unit, the positioning module records the coordinates of the spraying position of the second pesticide in the data storage, and the pesticide vehicle continues to drive automatically according to the planned module path, so that the operation is repeated.
According to the technical scheme, in the S7, the coordinates (X, Y) of the pesticide two-spraying position must satisfy the following conditions:
wherein r is the effect radius of the pesticide spraying unit I; r is the spraying radius of the pesticide II; and i is the spraying coordinate sequence of the pesticide one.
According to the technical scheme, the spraying unit I and the spraying unit II respectively spray two pesticides, namely lime sulphur and Bordeaux mixture.
Compared with the prior art, the invention has the following beneficial effects: the automatic driving navigation system can accurately and effectively complete pesticide spraying work in a plantation, the concentration distribution of sprayed pesticides has the characteristics of highest middle concentration and sequentially outward linear reduction of the concentration, the distribution mode of the pesticide concentration can greatly improve the killing power on central intensive area pests according to the monitored pest population density distribution, and the survival probability that central pests flee to the periphery during pesticide spraying is reduced, so that the cost is saved, the efficiency is improved, and unnecessary waste is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
in the figure: the central point (0, 0) is the central coordinate in the plantation, (X, Y) are spraying coordinates, R is the pesticide spraying radius, R is the pesticide radius after volatilization, and the area of the overlapping area must be 0.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides the following technical solutions: an automatic driving navigation system based on a block chain comprises an environment monitoring module and an automatic driving module;
the environment monitoring module is used for monitoring pest distribution conditions of a plantation, and the automatic driving module is used for automatic driving navigation and pesticide spraying of a pesticide vehicle;
the environment monitoring module comprises an infrared monitoring module, a density calculation module and a data storage module, and the automatic driving module comprises a positioning module, a map analysis module, a planning module and a spraying unit;
the density calculation module is electrically connected with the data storage module, and the infrared monitoring module can detect infrared rays emitted by pests; the positioning module is electrically connected with the data storage module;
the infrared monitoring module is used for monitoring the distribution of pests in the pesticide vehicle monitoring range, the density calculation module calculates the density of pests in the monitoring range, upload the analysis data to the data storage module, confirm the pesticide and spray the position, the pesticide vehicle position is confirmed to the orientation module, record pesticide sprays the coordinate, the map analysis module is used for inputting and analyzing the map circuit of plantation, the planning module is with setting up pesticide vehicle autopilot navigation route, it is used for spraying the pesticide to spray the unit, this system can combine the concrete route in the plantation, accomplish the pesticide through autopilot navigation efficient and spray the work.
The automatic driving navigation system comprises the following working steps:
s1, inputting the map route in the plantation into a map analysis module, finishing automatic driving path planning of the pesticide vehicle by a planning module, uploading the position of the pesticide vehicle to a data storage module by a positioning module, and starting automatic driving of the pesticide vehicle according to the planned path of the planning module;
s2, the environment monitoring module starts to analyze and record pest distribution in the monitoring range, and when pests appear in the monitoring range, the pest number recorded by the density calculating module is uploaded to the data storage module;
s3, calculating pest population density in the monitoring range by the density calculating module,
(mu is pest population density, M is monitoring area, N is pest number in monitoring area), and uploading the calculated density result to a data storage module;
and S4, when the pest population density mu in the monitoring range M is larger than the preset pest population density value in the data storage module, judging that pests appear in the range, wherein the center of the monitoring range M is the pest center point, stopping the pesticide vehicle from moving, spraying the pesticide on the M center point by the spraying unit, and after the operation of the spraying unit is finished, continuing to automatically drive the pesticide vehicle according to the planned route.
In S4, the radius of pesticide spraying is R, the concentration of the pesticide sprayed at the central point of the pest is P, the concentration of the pesticide at the radius R is 0, and the concentration distribution of the sprayed pesticide has the characteristic of linear reduction from the middle to the outside in sequence;
the spraying unit also comprises a first spraying unit and a second spraying unit, the environment monitoring module also comprises a timing module and a spraying calculation module, and the pesticide damage phenomenon caused by pesticide mixing when different types of pesticides are sprayed can be avoided;
the spraying calculation module is electrically connected with the data storage module and is used for analyzing the distribution areas of the two types of pesticides and uploading data to the data storage module;
the specific working mode of the timing module is to record the time T of each pesticide sprayingi(i is 1,2,3 … … n) and uploading the data to a data storage module, wherein the current time of the timer is T, so that the pesticide volatilization time T is T-Ti。
The specific calculation method of the spraying calculation module comprises the following steps:
the pesticide concentration is set as v, and the distance from the pesticide volatilization speed to the center point r
So that the radius of effect after spraying the pesticide
The pesticide spraying method of the automatic driving navigation system comprises the following steps:
s5, when the automatic driving navigation system works for the first time, inputting the map circuit in the plantation into the map analysis module, and determining the coordinate range (-X) suitable for pesticide spraying according to the input circuita～+Xa，-Yb～+Yb) And recording the data into a data storage module;
s6, when spraying the pesticide of the first spraying unit, recording the coordinate value (X) of the center point of the M in the data storage module according to the record of the positioning module1，Y1) Then, the coordinates of the central point are uploaded to a data storage module (X) every time the pesticide spraying work of the spraying unit I is finished2，Y2)(X3，Y3)……(Xn，Yn)；
S7, after the spraying of the first pesticide is finished, the spraying calculation module starts to calculate the pesticide spraying work of the second spraying unit, the positioning module records the coordinates of the spraying position of the second pesticide in the data storage device, and the pesticide vehicle continues to drive automatically according to the planned module path in a reciprocating mode;
in S7, the coordinates (X, Y) of the pesticide two-spraying position must satisfy the following condition:
wherein r is the effect radius of the pesticide spraying unit I; r is the spraying radius of the pesticide II; and i is the spraying coordinate sequence of the pesticide one.
Example (b): after the pesticide vehicle finishes the spraying work of the pesticide I in the plantation of one hectare, the pesticide vehicle carries out the first spraying work of the pesticide II, and X is carried out at the momenta＝50，YaSetting the radius R of pesticide spraying as 10m, the pesticide volatilization speed v as 1 m/day, setting the effect radius R of a certain pesticide spraying coordinate (20,30) at a time interval of one week as 3m, judging that the pesticide needs to be sprayed by the environment monitoring module when the pesticide vehicle moves to the coordinate (-10,0) according to the planning module, judging that the pesticide can be sprayed according to the condition in S7 by the spraying calculation module, and sprayingAnd spraying the pesticide in the second spraying unit.
The spraying unit I and the spraying unit II spray two pesticides of lime sulphur and Bordeaux mixture respectively.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An autopilot navigation system based on a blockchain, characterized in that: the system comprises an environment monitoring module and an automatic driving module;
the environment monitoring module is used for monitoring pest distribution conditions of the plantation, and the automatic driving module is used for automatic driving navigation and pesticide spraying of the pesticide vehicle.
2. The blockchain-based autopilot system of claim 1 wherein: the environment monitoring module comprises an infrared monitoring module, a density calculation module and a data storage module, and the automatic driving module comprises a positioning module, a map analysis module, a planning module and a spraying unit;
the density calculation module is electrically connected with the data storage module, and the infrared monitoring module can detect infrared rays emitted by pests; the positioning module is electrically connected with the data storage module;
the intelligent pesticide spraying system comprises an infrared monitoring module, a density calculation module, a data storage module, a positioning module, a map analysis module, a planning module, a pesticide vehicle automatic driving navigation path and a spraying unit, wherein the infrared monitoring module is used for monitoring pest distribution in a pesticide vehicle monitoring range, the density calculation module calculates pest density in the monitoring range, analysis data is uploaded to the data storage module, a pesticide spraying position is determined, the pesticide vehicle position is determined by the positioning module, pesticide spraying coordinates are recorded, the map analysis module is used for inputting and analyzing a plantation map line, the planning module is used for setting the pesticide vehicle automatic driving navigation path, and the spraying unit is used for spraying pesticides.
3. The blockchain-based autopilot system of claim 2 wherein: the automatic driving navigation system comprises the following working steps:
s1, inputting the map route in the plantation into a map analysis module, finishing automatic driving path planning of the pesticide vehicle by a planning module, uploading the position of the pesticide vehicle to a data storage module by a positioning module, and starting automatic driving of the pesticide vehicle according to the planned path of the planning module;
s2, the environment monitoring module starts to analyze and record pest distribution in the monitoring range, and when pests appear in the monitoring range, the pest number recorded by the density calculating module is uploaded to the data storage module;
s3, calculating pest population density in the monitoring range by the density calculating module,
(mu is pest population density, M is monitoring area, N is pest number in monitoring area), and uploading the calculated density result to a data storage module;
and S4, when the pest population density mu in the monitoring range M is larger than the preset pest population density value in the data storage module, judging that pests appear in the range, wherein the center of the monitoring range M is the pest center point, stopping the pesticide vehicle from moving, spraying the pesticide on the M center point by the spraying unit, and after the operation of the spraying unit is finished, continuing to automatically drive the pesticide vehicle according to the planned route.
4. The blockchain-based autopilot system of claim 3 wherein: according to the step S4, the radius of pesticide spraying is R, the concentration of the pesticide sprayed at the central point of the pest is P, the concentration of the pesticide sprayed at the radius R is 0, and the concentration distribution of the sprayed pesticide has the characteristics of highest middle sequential outward linear reduction.
5. The blockchain-based autopilot navigation system of claim 4 wherein: the spraying unit further comprises a first spraying unit and a second spraying unit, the environment monitoring module further comprises a timing module and a spraying calculation module;
the spraying calculation module is electrically connected with the data storage module and is used for analyzing the distribution areas of the two types of pesticides and uploading data to the data storage module.
6. The blockchain-based autopilot system of claim 5 wherein: the specific working mode of the timing module is to record the time T of each pesticide sprayingi(i is 1,2,3 … … n) and uploading the data to a data storage module, wherein the current time of the timer is T, so that the pesticide volatilization time T is T-Ti。
7. The blockchain-based autopilot navigation system of claim 6 wherein: the specific calculation method of the spraying calculation module comprises the following steps:
the pesticide concentration is set as v, and the distance from the pesticide volatilization speed to the center point r
So that the radius of effect after spraying the pesticide
8. The blockchain-based autopilot system of claim 7 wherein: the pesticide spraying method of the automatic driving navigation system comprises the following steps:
s5, when the automatic driving navigation system works for the first time, inputting the map circuit in the plantation into the map analysis module, and determining the coordinate range (-X) suitable for pesticide spraying according to the input circuita～+Xa，-Yb～+Yb) And recording the data into a data storage module;
s6, when spraying the pesticide of the first spraying unit, recording the coordinate value (X) of the center point of the M in the data storage module according to the record of the positioning module1，Y1) Then, the coordinates of the central point are uploaded to a data storage module (X) every time the pesticide spraying work of the spraying unit I is finished2，Y2)(X3，Y3)……(Xn，Yn)；
And S7, after the spraying of the first pesticide is finished, the spraying calculation module starts to calculate the pesticide spraying work of the second spraying unit, the positioning module records the coordinates of the spraying position of the second pesticide in the data storage, and the pesticide vehicle continues to drive automatically according to the planned module path, so that the operation is repeated.
9. The blockchain-based autopilot system of claim 8 wherein: according to the step of S7, the coordinates (X, Y) of the pesticide two-spraying position must satisfy the following condition:
wherein r is the effect radius of the pesticide spraying unit I; r is the spraying radius of the pesticide II; and i is the spraying coordinate sequence of the pesticide one.
10. The blockchain-based autopilot navigation system of claim 9 wherein: the spraying unit I and the spraying unit II spray two pesticides of lime sulphur and Bordeaux mixture respectively.
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