This study systematically introduces the development of the world’s first full-link and full-system ground demonstration and verification system for the OMEGA space solar power satellite(SSPS).First,the OMEGA 2.0 inn...This study systematically introduces the development of the world’s first full-link and full-system ground demonstration and verification system for the OMEGA space solar power satellite(SSPS).First,the OMEGA 2.0 innovation design was proposed.Second,field-coupling theoretical models of sunlight concentration,photoelectric conversion,and transmitting antennas were established,and a systematic optimization design method was proposed.Third,a beam waveform optimization methodology considering both a high beam collection efficiency and a circular stepped beam shape was proposed.Fourth,a control strategy was developed to control the condenser pointing toward the sun while maintaining the transmitting antenna toward the rectenna.Fifth,a high-efficiency heat radiator design method based on bionics and topology optimization was proposed.Sixth,a method for improving the rectenna array’s reception,rectification,and direct current(DC)power synthesis efficiencies is presented.Seventh,high-precision measurement technology for high-accuracy beam-pointing control was developed.Eighth,a smart mechanical structure was designed and developed.Finally,the developed SSPS ground demonstration and verification system has the capacity for sun tracking,a high concentration ratio,photoelectric conversion,microwave conversion and emission,microwave reception,and rectification,and thus satisfactory results were obtained.展开更多
This paper presents an integrated control scheme for enhancing the ride comfort and handling performance of a four-wheel-independent-drive electric vehicle through the coordination of active suspension system(ASS)and ...This paper presents an integrated control scheme for enhancing the ride comfort and handling performance of a four-wheel-independent-drive electric vehicle through the coordination of active suspension system(ASS)and anti-lock braking system(ABS).First,a longitudinal-vertical coupled vehicle dynamics model is established by integrating a road input model.Then the coupling mechanisms between longitudinal and vertical vehicle dynamics are analyzed.An ASS-ABS integrated control system is proposed,utilizing an H∞controller for ASS to optimize load transfer effect and a neural network sliding mode control for ABS implementation.Finally,the effectiveness of the proposed control scheme is evaluated through comprehensive tests conducted on a hardware-in-loop(HIL)test platform.The HIL test results demonstrate that the proposed control scheme can significantly improve the braking performance and ride comfort compared to conventional ABS control methods.展开更多
Tetrasphaera have been recently identified based on the 16S ribosomal RNA(rRNA)gene as among the most abundant polyphosphate-accumulating organisms(PAOs)in global full-scale wastewater treatment plants(WWTPs)with enha...Tetrasphaera have been recently identified based on the 16S ribosomal RNA(rRNA)gene as among the most abundant polyphosphate-accumulating organisms(PAOs)in global full-scale wastewater treatment plants(WWTPs)with enhanced biological phosphorus removal(EBPR).However,it is unclear how Tetrasphaera PAOs are selectively enriched in the context of the EBPR microbiome.In this study,an EBPR microbiome enriched with Tetrasphaera(accounting for 40%of 16S sequences on day 113)was built using a top-down design approach featuring multicarbon sources and a low dosage of allylthiourea.The microbiome showed enhanced nutrient removal(phosphorus removal~85%and nitrogen removal~80%)and increased phosphorus recovery(up to 23.2 times)compared with the seeding activated sludge from a local full-scale WWTP.The supply of 1 mg·L^(-1)allylthiourea promoted the coselection of Tetrasphaera PAOs and Microlunatus PAOs and sharply reduced the relative abundance of both ammonia oxidizer Nitrosomonas and putative competitors Brevundimonas and Paracoccus,facilitating the establishment of the EBPR microbiome.Based on 16S rRNA gene analysis,a putative novel PAO species,EBPR-ASV0001,was identified with Tetrasphaera japonica as its closest relative.This study provides new knowledge on the establishment of a Tetrasphaera-enriched microbiome facilitated by allylthiourea,which can be further exploited to guide future process upgrading and optimization to achieve and/or enhance simultaneous biological phosphorus and nitrogen removal from high-strength wastewater.展开更多
Three-dimensional(3D)porous scaffolds have a demonstrated value for tissue engineering and regenerative medicine.Inspired by the predation processes of marine predators in nature,we present new photocontrolled shrinka...Three-dimensional(3D)porous scaffolds have a demonstrated value for tissue engineering and regenerative medicine.Inspired by the predation processes of marine predators in nature,we present new photocontrolled shrinkable inverse opal graphene oxide(GO)hydrogel scaffolds for cell enrichment and 3D culture.The scaffolds with adjustable pore sizes and morphologies were created using a GO and N-isopropylacrylamide dispersed solution as a continuous phase of microfluidic emulsions for polymerizing and replicating.Because of the interconnected porous structures and the remotely controllable volume responsiveness of the scaffolds,the suspended cells could be enriched into the inner spaces of the scaffolds through predator-like swallowing and discharging processes.Hepatocyte cells concentrated in the scaffold pores could form denser 3D spheroids more quickly via the controlled compression force caused by the shrinking of the dynamic scaffolds.More importantly,with a program of scaffold enrichment with different cells,an unprecedented 3D multilayer coculture system of endothelial-cellencapsulated hepatocytes and fibroblasts could be generated for applications such as liver-on-a-chip and bioartificial liver.It was demonstrated that the resultant multicellular system offered significant improvements in hepatic functions,such as albumin secretion,urea synthesis,and cytochrome P450 expression.These features of our scaffolds make them highly promising for the biomimetic construction of various physiological and pathophysiological 3D tissue models,which could be used for understanding tissue level biology and in vitro drug testing applications.展开更多
Cell microcarriers have emerged as a powerful cell culture platform in biomedical areas, but their functions are usually limited to simply capturing and proliferating cells,because of the simplicity of their component...Cell microcarriers have emerged as a powerful cell culture platform in biomedical areas, but their functions are usually limited to simply capturing and proliferating cells,because of the simplicity of their components. Thus, in this study, we developed a new near-infrared(NIR) light-responsive graphene oxide(GO) hydrogel microcarrier system for controllable cell culture. The microcarriers were generated by using capillary microfluidics to emulsify the GO dispersed poly(N-isopropylacrylamide)(pNIPAM) and gelatin methacrylate(GelMA) pre-gel solution. The composite GO hydrogel microcarriers exhibited photothermally responsive cell capture, as well as the capacity for proliferation and release due to the NIR absorption of GO, the thermally responsive shape transition of pNIPAM, and the high biocompatibility of Gel MA. It was found that the NIR-responsive GO hydrogel microcarriers could prevent the cultured cells from being attacked by the immune system and promote the formation of tumor models in immunocompetent mice, which is desired for tumor and drug research. These features make the NIR-responsive GO hydrogel microcarriers excellent functional materials for different biomedical applications.展开更多
The in-wheel motor(IWM)-driven electric vehicles(EVs)attract increasing attention due to their advantages in dimensions and controllability.The majority of the current studies on IWM are carried out with the assumptio...The in-wheel motor(IWM)-driven electric vehicles(EVs)attract increasing attention due to their advantages in dimensions and controllability.The majority of the current studies on IWM are carried out with the assumption of an ideal actuator,in which the coupling effects between the non-ideal IWM and vehicle are ignored.This paper uses the braking process as an example to investigate the longitudinal-vertical dynamics of IWM-driven EVs while considering the mechanical-electrical coupling effect.First,a nonlinear switched reluctance motor model is developed,and the unbalanced electric magnetic force(UEMF)induced by static and dynamic mixed eccentricity is analyzed.Then,the UEMF is decomposed into longitudinal and vertical directions and included in the longitudinal-vertical vehicle dynamics.The coupling dynamics are demonstrated under different vehicle braking scenarios;numerical simulations are carried out for various road grades,road friction,and vehicle velocities.A novel dynamics vibration absorbing system is adopted to improve the vehicle dynamics.Finally,the simulation results show that vehicle vertical dynamic performance is enhanced.展开更多
In this work, we compare the impacts given by χ^2 statistics and Bayesian statistics. Bayesian statistics is a new statistical method proposed by [C. Ma, P. S. Corasaniti, and B. A. Bassett, arXiv:1603.08519[astro-ph...In this work, we compare the impacts given by χ^2 statistics and Bayesian statistics. Bayesian statistics is a new statistical method proposed by [C. Ma, P. S. Corasaniti, and B. A. Bassett, arXiv:1603.08519[astro-ph.CO](2016)]recently, which gives a fully account for the standard-candle parameter dependence of the data covariance matrix. For this two statistical methods, we explore the possible redshift-dependence of stretch-luminosity parameter α and colorluminosity parameter β by using redshift tomography. By constraining the ΛCDM model, we check the consistency of cosmology-fit results given by the SN sample of each redshift bin. We also adopt the linear parametrization to explore the possible evolution of α and β and the deceleration parameter q(z) for CPL, JBP, BA and Wang models. We find that:(i) Using the full JLA data, at high redshift α has a trend of decreasing at more than 1.5σ confidence level(CL),and β has a significant trend of decreasing at more than 19σ CL.(ii) Compared with χ^2 statistics(constant α, β) and Bayesian statistics(constant α, β), Bayesian statistics(linear α and β) yields a larger best-fit value of fractional matter density ?m0 from JLA+CMB+GC data, which is much closer to slightly deviates from the best-fit result given by other cosmological observations.(iii) The figure of merit(FoM) given by JLA+CMB+GC data from Bayesian statistics is also larger than the FoM from χ^2 statistics, which indicates that former statistics has a better accuracy.(iv) q(z) given by both statistical methods favor an eternal cosmic acceleration at 1σ CL.展开更多
The unobserved J^P= 0^-radial excitation Ds(2^1S0) is anticipated to have mass 2650 Me V(denoted as Ds(2650)). Study of hadronic production is an important way to identify highly excited states. We study hadroni...The unobserved J^P= 0^-radial excitation Ds(2^1S0) is anticipated to have mass 2650 Me V(denoted as Ds(2650)). Study of hadronic production is an important way to identify highly excited states. We study hadronic production of Ds(2650) from higher excited resonances in a3P0 model. Relevant hadronic partial decay widths are found to be very small, which implies it is difficult to observe Ds(2650) in hadronic decays of higher excited resonances. Hadronic decay widths of radially excited Ds(3P) have also been estimated. The total decay widths of four Ds(3P) are large, but the branching ratios in the Ds(2650)η channel are very small, which implies that it seems impossible to observe Ds(2650) in hadronic decays of Ds(3P). The dominant decay channels of the four Ds(3P) have been pointed out, and D1(2420), D1(2430), D*2(2460), D(2550), D(2600),(1-1D2)D(2750) and D3^(2760) are possible to observe in hadronic production from Ds(3P).展开更多
1 Introduction and contributions With the rapid development of mobile Internet,taxi-dispatching platforms have become increasingly popular and important.For example,UBer and Didi are both famous O2O platforms covering...1 Introduction and contributions With the rapid development of mobile Internet,taxi-dispatching platforms have become increasingly popular and important.For example,UBer and Didi are both famous O2O platforms covering the dominating portion of the taxidispatching market over the world.A central issue in taxidispatching platforms is task assignment.展开更多
The main purpose of this work is to distinguish various holographic type dark energy (DE) models, including the AHDE, HDE, NADE, and RDE model, by using various diagnostic tools. The first diagnostic tool is the Sta...The main purpose of this work is to distinguish various holographic type dark energy (DE) models, including the AHDE, HDE, NADE, and RDE model, by using various diagnostic tools. The first diagnostic tool is the Statefinder hierarchy, in which the evolution of Statefinder hierarchy parmeter S3(1)(z) and S4(1)(z) are studied. The second is composite null diagnostic (CND), in which the trajectories of {S(1)4, ∈} and {S4(1), e} are investigated, where ∈ is the fractional growth parameter. The last is w-w′ analysis, where w is the equation of state for DE and the prime denotes derivative with respect to lna. In the analysis we consider two cases: varying current fractional DE density Ωde0 and varying DE model parameter C. We find that: (1) both the Statefinder S4(1) can lead to larger hierarchy and the CND have qualitative impact on AHDE, but only have quantitative impact on HDE. (2) S4(1) differences than S 4(1), while the CND pair has a stronger ability to distinguish different models than the Statefinder hierarchy. (3) For the case of varying C, the {w, w′} pair has qualitative impact on AHDE; for the case of varying Ωde0, the {w, w′} pair only has quantitative impact; these results are different from the cases of HDE, RDE, and NADE, in which the {w, w′} pair only has quantitative impact on these models. In conclusion, compared with HDE, RDE, and NADE, the AHDE model can be easily distinguished by using these diagnostic tools.展开更多
文摘This study systematically introduces the development of the world’s first full-link and full-system ground demonstration and verification system for the OMEGA space solar power satellite(SSPS).First,the OMEGA 2.0 innovation design was proposed.Second,field-coupling theoretical models of sunlight concentration,photoelectric conversion,and transmitting antennas were established,and a systematic optimization design method was proposed.Third,a beam waveform optimization methodology considering both a high beam collection efficiency and a circular stepped beam shape was proposed.Fourth,a control strategy was developed to control the condenser pointing toward the sun while maintaining the transmitting antenna toward the rectenna.Fifth,a high-efficiency heat radiator design method based on bionics and topology optimization was proposed.Sixth,a method for improving the rectenna array’s reception,rectification,and direct current(DC)power synthesis efficiencies is presented.Seventh,high-precision measurement technology for high-accuracy beam-pointing control was developed.Eighth,a smart mechanical structure was designed and developed.Finally,the developed SSPS ground demonstration and verification system has the capacity for sun tracking,a high concentration ratio,photoelectric conversion,microwave conversion and emission,microwave reception,and rectification,and thus satisfactory results were obtained.
基金Supported by National Natural Science Foundation of China(Grant No.52272387)State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures,Shijiazhuang Tiedao University of China(Grant No.KF2020-29)Beijing Municipal Science and Technology Commission through Beijing Nova Program of China(Grant No.20230484475).
文摘This paper presents an integrated control scheme for enhancing the ride comfort and handling performance of a four-wheel-independent-drive electric vehicle through the coordination of active suspension system(ASS)and anti-lock braking system(ABS).First,a longitudinal-vertical coupled vehicle dynamics model is established by integrating a road input model.Then the coupling mechanisms between longitudinal and vertical vehicle dynamics are analyzed.An ASS-ABS integrated control system is proposed,utilizing an H∞controller for ASS to optimize load transfer effect and a neural network sliding mode control for ABS implementation.Finally,the effectiveness of the proposed control scheme is evaluated through comprehensive tests conducted on a hardware-in-loop(HIL)test platform.The HIL test results demonstrate that the proposed control scheme can significantly improve the braking performance and ride comfort compared to conventional ABS control methods.
基金supported by the Key Research and Development Program of Zhejiang(2022C03075)National Natural Science Foundation of China(22241603)Zhejiang Provincial Natural Science Foundation of China(LR22D010001)。
文摘Tetrasphaera have been recently identified based on the 16S ribosomal RNA(rRNA)gene as among the most abundant polyphosphate-accumulating organisms(PAOs)in global full-scale wastewater treatment plants(WWTPs)with enhanced biological phosphorus removal(EBPR).However,it is unclear how Tetrasphaera PAOs are selectively enriched in the context of the EBPR microbiome.In this study,an EBPR microbiome enriched with Tetrasphaera(accounting for 40%of 16S sequences on day 113)was built using a top-down design approach featuring multicarbon sources and a low dosage of allylthiourea.The microbiome showed enhanced nutrient removal(phosphorus removal~85%and nitrogen removal~80%)and increased phosphorus recovery(up to 23.2 times)compared with the seeding activated sludge from a local full-scale WWTP.The supply of 1 mg·L^(-1)allylthiourea promoted the coselection of Tetrasphaera PAOs and Microlunatus PAOs and sharply reduced the relative abundance of both ammonia oxidizer Nitrosomonas and putative competitors Brevundimonas and Paracoccus,facilitating the establishment of the EBPR microbiome.Based on 16S rRNA gene analysis,a putative novel PAO species,EBPR-ASV0001,was identified with Tetrasphaera japonica as its closest relative.This study provides new knowledge on the establishment of a Tetrasphaera-enriched microbiome facilitated by allylthiourea,which can be further exploited to guide future process upgrading and optimization to achieve and/or enhance simultaneous biological phosphorus and nitrogen removal from high-strength wastewater.
基金This work was supported by the National Key Research and Development Program of China(2017YFA0700404)the National Natural Science Foundation of China(grant nos.21473029 and 51522302)+4 种基金the NSAF Foundation of China(grant no.U1530260)the National Science Foundation of Jiangsu Province(grant no.BK20180128)the Scientific Research Foundation of Southeast University,the Scientific Research Foundation of the Graduate School of Southeast University,the Fundamental Research Funds for the Central Universities(2242018R20012)the China Postdoctoral Science Foundation funded project(2018M640445)Changmin Shao also thanks the Postdoctoral Science Foundation of Jiangsu Province.
文摘Three-dimensional(3D)porous scaffolds have a demonstrated value for tissue engineering and regenerative medicine.Inspired by the predation processes of marine predators in nature,we present new photocontrolled shrinkable inverse opal graphene oxide(GO)hydrogel scaffolds for cell enrichment and 3D culture.The scaffolds with adjustable pore sizes and morphologies were created using a GO and N-isopropylacrylamide dispersed solution as a continuous phase of microfluidic emulsions for polymerizing and replicating.Because of the interconnected porous structures and the remotely controllable volume responsiveness of the scaffolds,the suspended cells could be enriched into the inner spaces of the scaffolds through predator-like swallowing and discharging processes.Hepatocyte cells concentrated in the scaffold pores could form denser 3D spheroids more quickly via the controlled compression force caused by the shrinking of the dynamic scaffolds.More importantly,with a program of scaffold enrichment with different cells,an unprecedented 3D multilayer coculture system of endothelial-cellencapsulated hepatocytes and fibroblasts could be generated for applications such as liver-on-a-chip and bioartificial liver.It was demonstrated that the resultant multicellular system offered significant improvements in hepatic functions,such as albumin secretion,urea synthesis,and cytochrome P450 expression.These features of our scaffolds make them highly promising for the biomimetic construction of various physiological and pathophysiological 3D tissue models,which could be used for understanding tissue level biology and in vitro drug testing applications.
基金supported by the National Natural Science Foundation of China (21473029 and 51522302)the NSAF Foundation of China (U1530260)+3 种基金the Scientific Research Foundation of Southeast Universitythe Scientific Research Foundation of Graduate School of Southeast Universitythe Postgraduate Research & Practice Innovation Program of Jiangsu Provincethe Fundamental Research Funds for the Central Universities
文摘Cell microcarriers have emerged as a powerful cell culture platform in biomedical areas, but their functions are usually limited to simply capturing and proliferating cells,because of the simplicity of their components. Thus, in this study, we developed a new near-infrared(NIR) light-responsive graphene oxide(GO) hydrogel microcarrier system for controllable cell culture. The microcarriers were generated by using capillary microfluidics to emulsify the GO dispersed poly(N-isopropylacrylamide)(pNIPAM) and gelatin methacrylate(GelMA) pre-gel solution. The composite GO hydrogel microcarriers exhibited photothermally responsive cell capture, as well as the capacity for proliferation and release due to the NIR absorption of GO, the thermally responsive shape transition of pNIPAM, and the high biocompatibility of Gel MA. It was found that the NIR-responsive GO hydrogel microcarriers could prevent the cultured cells from being attacked by the immune system and promote the formation of tumor models in immunocompetent mice, which is desired for tumor and drug research. These features make the NIR-responsive GO hydrogel microcarriers excellent functional materials for different biomedical applications.
基金This study is supported by the National Natural Science Foundation of China under Grant 51805028,in part by the Young Elite Scientists Sponsorship Program funded by the China Society of Automotive Engineers,and in part by the Beijing Institute of Technology Research Fund Program for Young Scholars.
文摘The in-wheel motor(IWM)-driven electric vehicles(EVs)attract increasing attention due to their advantages in dimensions and controllability.The majority of the current studies on IWM are carried out with the assumption of an ideal actuator,in which the coupling effects between the non-ideal IWM and vehicle are ignored.This paper uses the braking process as an example to investigate the longitudinal-vertical dynamics of IWM-driven EVs while considering the mechanical-electrical coupling effect.First,a nonlinear switched reluctance motor model is developed,and the unbalanced electric magnetic force(UEMF)induced by static and dynamic mixed eccentricity is analyzed.Then,the UEMF is decomposed into longitudinal and vertical directions and included in the longitudinal-vertical vehicle dynamics.The coupling dynamics are demonstrated under different vehicle braking scenarios;numerical simulations are carried out for various road grades,road friction,and vehicle velocities.A novel dynamics vibration absorbing system is adopted to improve the vehicle dynamics.Finally,the simulation results show that vehicle vertical dynamic performance is enhanced.
文摘In this work, we compare the impacts given by χ^2 statistics and Bayesian statistics. Bayesian statistics is a new statistical method proposed by [C. Ma, P. S. Corasaniti, and B. A. Bassett, arXiv:1603.08519[astro-ph.CO](2016)]recently, which gives a fully account for the standard-candle parameter dependence of the data covariance matrix. For this two statistical methods, we explore the possible redshift-dependence of stretch-luminosity parameter α and colorluminosity parameter β by using redshift tomography. By constraining the ΛCDM model, we check the consistency of cosmology-fit results given by the SN sample of each redshift bin. We also adopt the linear parametrization to explore the possible evolution of α and β and the deceleration parameter q(z) for CPL, JBP, BA and Wang models. We find that:(i) Using the full JLA data, at high redshift α has a trend of decreasing at more than 1.5σ confidence level(CL),and β has a significant trend of decreasing at more than 19σ CL.(ii) Compared with χ^2 statistics(constant α, β) and Bayesian statistics(constant α, β), Bayesian statistics(linear α and β) yields a larger best-fit value of fractional matter density ?m0 from JLA+CMB+GC data, which is much closer to slightly deviates from the best-fit result given by other cosmological observations.(iii) The figure of merit(FoM) given by JLA+CMB+GC data from Bayesian statistics is also larger than the FoM from χ^2 statistics, which indicates that former statistics has a better accuracy.(iv) q(z) given by both statistical methods favor an eternal cosmic acceleration at 1σ CL.
基金Supported by National Natural Science Foundation of China(11475111)
文摘The unobserved J^P= 0^-radial excitation Ds(2^1S0) is anticipated to have mass 2650 Me V(denoted as Ds(2650)). Study of hadronic production is an important way to identify highly excited states. We study hadronic production of Ds(2650) from higher excited resonances in a3P0 model. Relevant hadronic partial decay widths are found to be very small, which implies it is difficult to observe Ds(2650) in hadronic decays of higher excited resonances. Hadronic decay widths of radially excited Ds(3P) have also been estimated. The total decay widths of four Ds(3P) are large, but the branching ratios in the Ds(2650)η channel are very small, which implies that it seems impossible to observe Ds(2650) in hadronic decays of Ds(3P). The dominant decay channels of the four Ds(3P) have been pointed out, and D1(2420), D1(2430), D*2(2460), D(2550), D(2600),(1-1D2)D(2750) and D3^(2760) are possible to observe in hadronic production from Ds(3P).
文摘1 Introduction and contributions With the rapid development of mobile Internet,taxi-dispatching platforms have become increasingly popular and important.For example,UBer and Didi are both famous O2O platforms covering the dominating portion of the taxidispatching market over the world.A central issue in taxidispatching platforms is task assignment.
基金supported by the National Natural Science Foundation of China(Grant No.11405024)the Fundamental Research Funds for the Central Universities(Grant No.16lgpy50)
文摘The main purpose of this work is to distinguish various holographic type dark energy (DE) models, including the AHDE, HDE, NADE, and RDE model, by using various diagnostic tools. The first diagnostic tool is the Statefinder hierarchy, in which the evolution of Statefinder hierarchy parmeter S3(1)(z) and S4(1)(z) are studied. The second is composite null diagnostic (CND), in which the trajectories of {S(1)4, ∈} and {S4(1), e} are investigated, where ∈ is the fractional growth parameter. The last is w-w′ analysis, where w is the equation of state for DE and the prime denotes derivative with respect to lna. In the analysis we consider two cases: varying current fractional DE density Ωde0 and varying DE model parameter C. We find that: (1) both the Statefinder S4(1) can lead to larger hierarchy and the CND have qualitative impact on AHDE, but only have quantitative impact on HDE. (2) S4(1) differences than S 4(1), while the CND pair has a stronger ability to distinguish different models than the Statefinder hierarchy. (3) For the case of varying C, the {w, w′} pair has qualitative impact on AHDE; for the case of varying Ωde0, the {w, w′} pair only has quantitative impact; these results are different from the cases of HDE, RDE, and NADE, in which the {w, w′} pair only has quantitative impact on these models. In conclusion, compared with HDE, RDE, and NADE, the AHDE model can be easily distinguished by using these diagnostic tools.