cruise control closed loop system

%%EOF Looked at in this way, the closed loop system exhibits the characteristics of a lowpass filter. trailer << /Size 212 /Info 188 0 R /Root 195 0 R /Prev 302951 /ID[<5efc2bd9dd51e606ae299f0519f3cf8a>] >> startxref 0 %%EOF 195 0 obj << /Type /Catalog /Pages 182 0 R /Outlines 120 0 R /Names 197 0 R /Metadata 181 0 R /AcroForm 196 0 R >> endobj 196 0 obj << /Fields [ ] /DR << /Font << /ZaDb 178 0 R /Helv 179 0 R >> /Encoding << /PDFDocEncoding 180 0 R >> >> /DA (/Helv 0 Tf 0 g ) >> endobj 197 0 obj << /AP 189 0 R >> endobj 210 0 obj << /S 871 /O 958 /V 974 /Filter /FlateDecode /Length 211 0 R >> stream The transfer function of the lag controller Ll9vv:;d{UxG{h\? 1980s to present day or modern cruise control technology (a) Basic components of a modern cruise control system (b) Non . 0000005560 00000 n This is a valid approach since the traction force applied at the wheel is directly . IEEE Control Systems Magazine, Feb. 2006, Special issue on PID control . The transfer function in the plant is the transfer function derived above {Y(s)/U(s)=1/ms+b}. These may use discrete analog electronic comparators for simple systems, such as an oven thermostat. If, however, you depart from Miami, sail through the Panama Canal, visiting a foreign port on the way, and disembark in Los Angeles, you have not been on a closed loop cruise, even though both your departure and . To overcome the limitations of the open-loop controller, control theory introduces feedback.A closed-loop controller uses feedback to control states or outputs of a dynamical system.Its name comes from the information path in the system: process inputs (e.g., voltage applied to an electric motor) have an effect on the process outputs (e.g., speed or torque of the motor), which is measured with . figure. Take cruise control for example. Innkeeper LLC is experienced in developing complete. Kp = 1; Ki = 1; Kd = 1; C = pid (Kp,Ki,Kd); T = feedback (C*P_cruise,1); Plot the step response and adjust all of , , and until you obtain satisfactory results. Coaxial cable is a type of copper cable specially built with a metal shield and other components engineered to block signal Megahertz (MHz) is a unit multiplier that represents one million hertz (106 Hz). Change the existing m-file so that equals 5000 and rerun it in the MATLAB command window. Proportional control. It's great for low to no traffic situations where you don't need to change or adjust speed often. Both types of controls have their benefits and which one is best for you can depend on several different factors. m-file: We can rewrite the first-order modeling equation (1) as the state-space model. The relationship of the throttle to speed is not direct as many factors can influence it, such as cargo weight, hill incline and wind resistance based on speed. The closed-loop transfer function of this cruise control system with a PI controller () is: Recall from the Introduction: PID Controller Design page, an addition of an integral controller to the system eliminates the steady-state error. Human operators are more expensive to hire and may need to operate larger systems, requiring more automation. As a U.S. citizen, you will not need a valid passport to leave and re-enter the United States this way. 0000003037 00000 n a prompt asking you to pick a point on the root-locus plot. Machine learning algorithms and artificial intelligence may be thought of as highly integrated self-learning closed loop control that can take in feedback to new and optimized ways to get a desired output. After running in the command window, you should see A basic closed-loop control system is shown in Figure 1. However, this response is criteria for this problem: Rise time < 5 sec Ouzhan akir. Open- and closed-loop control combined. Hb```f``ac`a`c`@ V8Dq\Qt8 .[Tcx#Q\3e)bid However, 0000071366 00000 n indicates the locations of constant natural frequency (=0.36); the natural frequency is greater than 0.36 outside the semi-ellipse, and smaller than 0.36 inside. That blog also explains a little about PID control . !_nB-uu4L.g3 4N%;dlWR*k:Kk: YB9|]wk`K'sj\"3Ke]u,+ Open versus closed loop Cruise control problem (ignore dynamics): y [km/h] w [%] Model is found to be y = 10 (u - 0.5 w) u [degrees] is the throttle angle From Feedback Control of Dynamic Systems, G.F. Franklin et al No thanks, I want to continue to the website. This analogy can be applied to open loop control in blowers. :URG+_#0if\a8yT#Io{+*(#bVG&7=Dj9bDZ)_pFi0,_x9fnb"^q6i 4u+/)$q(VnW%Va5sm33HN@z0 SX(]A So, if the cruise control is set at 60 mph and the car is going 50 mph, the throttle position will be open quite far. order of magnitude. The key feature that sets a closed-loop . Cruise-control-design-using-PID. These systems use a small, electronically-controlled valve to regulate the vacuum in a diaphragm. (*hx$lFBSi`m2MQV1h#n$2o-, It can control the car's throttle and vary the engine power (system input). Its also worth noting that you dont necessarily have to choose one or the other. 0000003310 00000 n Without cruise control, long road trips would be more tiring, for the driver at least, and those of us suffering from lead-foot syndrome would probably get a lot more speeding tickets. Old or low-cost systems may use a mechanical closed loop system. Please verify for yourself that the result agrees This works in a similar way to the brake booster, which provides power to your brake system. 194 0 obj << /Linearized 1 /O 198 /H [ 1030 865 ] /L 306961 /E 28108 /N 33 /T 302962 >> endobj xref 194 18 0000000016 00000 n OF. Here is a system that's better at its job than . An automobile 1. R9p^prSe^js,'Q, +@2\p2PyhQ,$9UA iA6'(zT+J@SsqKt{*z@pdbP)AQo*GisB9cR`s@Q $:: 4dA`@-J =JJ Y&%U X\ 454b3*0# %:J A Closed-loop Control System, also known as a feedback control system is a control system which uses the concept of an open loop system as its forward path but has one or more feedback loops (hence its name) or paths between its output and its input. But if accuracy is a critical part of your testing process or it would make more sense to have automated responses to disturbances during testing instead of using human oversight, closed loop controls are a better option. When equals 800 and equals 40, the step response will look like the following: For this particular example, no implementation of a derivative controller was needed to obtain the required output. The closed-loop transfer function for this cruise control system with a PID controller () is: (5) Let equal 1, equal 1, and equal 1 and enter the following commands into a new m-file. This field is for validation purposes and should be left unchanged. Ecological sanitation systems or ecosan, intended to close the nutrient and water cycle. Now, we are ready to generate a root-locus plot and use the sgrid to find an acceptable region on the root-locus. Vout is the actual speed on the speedometer. And a continuous glucose monitor (CGM) can cost about 2000 a year. The result is that the closer the car gets to the desired speed, the slower it accelerates. The semi-ellipse This is a system that automatically controls the speed of an electric vehicle despite external disturbances. It uses a feedback system or sensor. 2. Frequency domain performance . The two dotted lines in an angle indicate the locations of constant damping ratio (=0.6); the damping ratio is greater than 0.6 in between these lines and less than 0.6 outside the lines. be generated as follows. Internet of things (IoT) is placing more sensors and generating more data for systems to ingest and make decisions based on. 390 0 obj <>/Filter/FlateDecode/ID[<7B5CF40CFA8EBD40B4B052DE36D595CE>]/Index[377 38]/Info 376 0 R/Length 75/Prev 244464/Root 378 0 R/Size 415/Type/XRef/W[1 2 1]>>stream The dynamics are represented by three transfer functions denoting the response of the engine torque to throttle . Such systems have a dampening value added to control for rapid cycling and unwanted oscillations of the output. In other words, it will max out the current limit to provide 100% of the voltage input into the system. Adaptive cruise control is just a preview of the technology being developed by both companies. {PNd'iR!.t 61ShS7}+B-Uc&>bDP.F)&Q&j26a4#TY7 4. If the inertia of the wheels is neglected, and it is assumed that friction In the closed-loop system, the desired output depends on their input. < 5.1 Getting Started with Transfer Functions | Contents | Tag Index | 5.3 Creating Bode Plots >. Closed-loop control systems typically operate at a fixed frequency. That is, the controller takes actions that counteract or oppose any drift in the measured PV signal from set point. Please see the Cruise Control: System Modeling page for the derivation. Need help implementing a new control system for your testing equipment? Suggestion: Usually choosing appropriate gains requires a trial and error process. To see the original problem setup, see Cruise Control Modeling page. As you can see from the plot, neither the steady-state The plant functions Gp(s . To use the sgrid, both the damping ratio, , and the natural frequency, , need to be determined first. adjust one variable (, , or ) at a time and observe how changing one variable influences the system output. It continually monitors and adjusts the process based on the difference between the desired output, known as the set point, and the actual output. 15 January 2001. 0000001632 00000 n We will implement this in Simulink by first containing the open-loop system from earlier in this page in a Subsystem block. It generates preferred condition of the output as compared to the original one. The transfer function model for the cruise control problem is given below. Also, the system must be stable for optimum performance, and stability of a close loop system which the cruise system is an example, was determined by calculating the controller gain (K 1, K 2, K 3) and If speed and accuracy are both required, open-loop and closed-loop control can be applied simultaneously using a . We recommend that everyone taking a cruise from the United States have a passport book. Cruise system: Output . Home Open Loop vs. Closed Loop Controls. The cruise control system of a car is a common feedback system encountered in everyday life. must always be considered when proposing a new controller. These cruises have to meet certain criteria to qualify. A closed-loop control system (Figure 3) utilizes an additional measure of the actual output to compare the actual output with the desired output response. A basic closed-loop control system is shown in Figure 1. Cookie Preferences Since this is only a cruise control system, a 10% overshoot on the velocity will not do much Vehicle response to a change in setpoint: Throttle response to a change in setpoint: Internal model control is a version of feedback control that incorporates an explicit process model. The cruise control system controls the speed of your car the same way you do -- by adjusting the throttle position.But cruise control actuates the throttle valve by a cable connected to an actuator, instead of by pressing a pedal.The throttle valve controls the power and speed of the engine by limiting how much air the engine takes in (see How Fuel Injection Systems Work for more details). For a linear feedback system, the control loop consists of sensors, a control algorithm, and actuators. U`~ NS0'j^a^orM3g84r *BK#s;epGzlGA9SLW1fgfVhpDf*d A common example of a control system is the cruise control in an automobile: The cruise control manipulates the throttle setting so that the vehicle speed tracks the commanded speed provided by the driver. For example, if your testing process rarely involves disturbances that can alter your results or quantitative measurement isnt an issue, open loop controls can be a cost-effective solution. Closed loop control systems contrast with open loop control systems, which require manual input. To find the transfer function of the above system, we need to take the Laplace transform of the modeling equations Have any questions? All contents licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. loop function in a manner that produces the desired closed-loop performance characteristics. 0000023314 00000 n 377 0 obj <> endobj 0000003413 00000 n Many cars are fitted with cruise control that, at the press of a button, automatically maintains a set speed. than 5 seconds. Thus, only a proportional controller, , will be considered to solve this problem.The closed-loop transfer function becomes: (2) Proportional-integral-derivative (PID) control framework is a method to control . The proportional control increases the throttle a little, but you may still slow down. HWKoFW*l!9ds-mLH*Q~}$P|ZF,"P4[=6{'}}f-YeP/GziO>-W3R=^z6dSO./%{8gP M3lOEn>W}Olk+K'|{:yHW2?H{c68K"?Tl260FeDB>stK'tnoZ+ The change on the output by the input or the relationship between the detected sensor value is known as the gain of the system. The frequency of changes to the drive signal is usually the same as . In practice, says Stuyvenberg, it's not often the case, and the advantages of using a closed loop system . CAL2"A$=v,"?b@zl=yPl 7{DexJ4B6LGe@H*0 A YLD*n:JVJjXOuu /c!aonHgW#jCw% Don't worry, you don't need to know any calculus to make it through this explanation -- just remember that: A PID control system uses these three factors -- proportional, integral and derivative, calculating each individually and adding them to get the throttle position. (which is proportional to the car's speed) is what is opposing the motion of the car, then the problem is reduced to the simple mass and damper system shown below. These systems are being enhanced to include collision warning capabilities that will warn drivers through visual and/or audio signals that a collision is imminent and that braking or evasive steering is needed. (A one percent grade corresponds to 1 foot of rise in 100 feet of horizontal travel, or a tangent of 0.01). Open loop and closed loop. A key benefit to open loop controls is that theyre much simpler systems, which means theyre more affordable than closed loop controls and are easier to implement. 6I=]D K"M2$>? lArn#au\B%yg!X|s@l$[plFr?bpYorWMv>6.CV0 pP?5 ;pz|%]p}"luBG6" lp |])^whAu:QI{_<3x From the first equation, we see that the natural A lot of closed-loop control systems look great on paper, but their imperfections become clear in execution. c. 0.02 has little inuence on the behavior of the closed loop system since it is an order of mag-nitude smaller than 2. more than 10% remains. :}~iedRb$?W Pg 1tk7jyx@`#`@ae@E TuDcCi\g#kG\nFW*55]]6!Rf The principal drawback of open-loop control is a loss of accuracy. hb```f``e`a``cd`@ +s(;8 3W8%P#'dbPd#$tRY{z%bm'pt0Htt0pt40)0Zb\% XHPJ$& |yqABZps3S4#vS?0-XX@>pf`Q Therefore, the control system must be tuned to account for these factors. (A one percent grade corresponds to 1 foot of rise in 100 feet of horizontal travel, or a tangent of 0.01). This paper retraces the history of the automobile cruise control technology since the 1950s. You can increase the proportional gain, , to reduce the rise time and the steady-state error. !Z!$zI{~e|%1Jhz'PU)~W|>QS,&gF_)/U#=*l^2sX=JAy'kS`BB-BUmar}m/\(%H$j%E2lci@\&$l94J&*y$"$k((5:]l9u\~'%,)*Q{:K6w(i?g6wb7ne@4W`n\`2 R/:O/T>ya-+pq[# The controller will %PDF-1.3 % 7BH,87pL=Bx!Q6%V/AaXS|^3)3)x4:qt%0<=(jl+V`b!q0#v)E,G,BL.Xc; |!EUBdpp/2E4 Cruise control is an invaluable feature on American cars. Other Closed-loop systems. Discrete closed loop control also uses feedback but only changes the command when a desired level/value is crossed. Electrical Engineering questions and answers. is: The closed-loop transfer function (not including ) now becomes: Finally, including the loop gain , the closed-loop transfer function becomes: If you read the "Lag or Phase-Lag Compensator using Root-Locus" section in the Lead and Lag Compensator Design page, the pole and the zero of a lag controller need to be placed close together. (True/False) A controller that computes its input from a system using only the current state and its model of the system is known . For those who are unfamiliar with cruise control, here is how it works. The 77-GHz Autocruise radar system made by TRW has a forward-looking range of up to 492 feet (150 meters), and operates at vehicle speeds ranging from 18.6 miles per hour (30 kph) to 111 mph (180 kph). Closed-loop response Physical setup and system equations The model of the cruise control system is relatively simple. The characteristics of , , and are summarized in the Introduction: PID Controller Design page. This is achieved through a radar headway sensor, digital signal processor and longitudinal controller. Briefly describe how cruise control in a car acts as a closed-loop system. Many cars use actuators powered by engine vacuum to open and close the throttle. The system pictured below has five buttons: On, Off, Set/Accel, Resume and Coast. Proportional control. In the picture above, you can see two cables connected to a pivot that moves the throttle valve. [8]: # Get the transfer function from . The aim of inventing Flyball governor was to keep the speed of the engine constant by regulating the supply of the steam to the engine. If you study control theory you will encounter so-called block diagrams, which are schematic representations of control systems and help one to understand how they work. To solve this problem using Matlab, copy the following commands into an new It may also have other controls, such as shifting the gears in the transmission or applying breaks. 0000000807 00000 n By using this intelligent control one can easily control the . Hertz is the standard unit of frequency in the IEEE 802 is a collection of networking standards that cover the physical and data link layer specifications for technologies such A digital signature is a mathematical technique used to validate the authenticity and integrity of a message, software or digital Sudo is a command-line utility for Unix and Unix-based operating systems such as Linux and macOS. Two companies are developing a more advanced cruise control that can automatically adjust a car's speed to maintain a safe following distance. This notebook contains material from CBE30338; The open loop system is a simple design, the accuracy dependent on the calibration of the devices within the process. The dynamics are represented by three transfer functions denoting the response of the engine torque to throttle position. the response of the vehicle to engine and external forces. HT{TWOIb2IQRa}Ey FH|P++uK"*Z_k}v|k;ci=3wo~YXl6qyNX.#93\H`,34e,L"JiB]Y\62~SN"zI$~R)O[\.0[6lbY29UNUd6QfI/X!7#dSR3s/CRK1CSHV*qbieV:nKr9:D^g\wn7xA1gBY}j]k'c6a6w&~>Y Closed Loop System Example: The electric furnace shown in the below figure is a closed loop system example. Since closed loop controls are more responsive to changes during the testing process, closed loop control systems are more accurate and repeatable than open loop controls. The throttle valve controls the power and speed of the engine by limiting how much air the engine takes in (see How Fuel Injection Systems Work for more details). When the car is going 55 mph, the throttle position opening will be only half of what it was before. When the sensor detects the temperature is above the set point, it turns the system off. 0000005945 00000 n 0000001895 00000 n will reach a maximum velocity of 10 m/s (22 mph). For instance, the cruise control pictured below can accelerate or decelerate the car by 1 mph with the tap of a button. The pale blue device calculates the error: e = Vin - Vout The This algorithm . ^R+-3 Note that we have used the MATLAB feedback command to simplify the block diagram reduction of the closed-loop system. to be designed Add the code [Kp,poles]=rlocfind(P_cruise) onto the end of your m-file to help you choose a specific loop gain. First, let's start with one of the most basic control systems you could have -- a proportional control. Another complex example is computer room air handlers (CRAHs) in data centers that dissipate heat produced by equipment using fans, cooling coils and a water chiller system. It doesn't encounter any external or internal disturbances. Its important to note that there are various types of closed loop controls, such as. A classic example of a closed loop control system is Cruise Control in your car. For now, use equal to 100 and a reference speed of 10 m/s. 0000004972 00000 n 5.2.2 Block Diagram for Car Cruise Control . To solve this problem, a unity feedback controller will be added to improve the system performance. The stability of this system can be controlled by a feedback system. CRUISE CONTROL. 62 0 obj << /Linearized 1 /O 64 /H [ 900 407 ] /L 529196 /E 84903 /N 15 /T 527838 >> endobj xref 62 23 0000000016 00000 n Let's imagine you own a car with a mass of 1,500 kg (including passengers) that is traveling down a level stretch of highway at a desired speed of 100 kilometers per hour. For these reasons, let equal 0.3 and equal 0.03. From the plot, we see that the vehicle takes more than 100 seconds to reach the steady-state speed of 10 m/s. The cruise control system controls the speed of your car the same way you do - by adjusting the throttle (accelerator) position. 3. The brain of a cruise control system is a small computer that is normally found under the hood or behind the dashboard. The model of the cruise control system is relatively simple. Steady state error < 2%. Team collaboration is a communication and project management approach that emphasizes teamwork, innovative thinking and equal A marketing-qualified lead (MQL) is a website visitor whose engagement levels indicate they are likely to become a customer. Adaptive cruise control system is an advanced method of controlling the speed of the moving vehicle. 0.2 and it follows from D4.7Ethat the parameter. What is the quiet-eye phenomenon, and how does it relate to novice learners? When the engine gives a 500 Newton force, the car We will discuss this issue much more in subsequent tutorials. So by providing a feedback system, any open-loop control system can be changed into a closed loop. Four different methods to design the controller are listed at the bottom of this page. Software systems may take advantage of a closed loop feedback system. Let's say your car starts to go up a hill and slows down. The transfer function model for the cruise control problem is given below. 0000002003 00000 n The open loop system means the output of the system is free from their input. The desired velocity is chosen, and it's up to the car's engine to do whatever it takes to maintain that velocity--up and down hills. Delphi's 76-GHz system can also detect objects as far away as 492 feet, and operates at speeds as low as 20 mph (32 kph). After doing this, you should see the following output in the MATLAB command window. The control and controlled process are the two components of the open loop system. This new technology, called adaptive cruise control, uses forward-looking radar, installed behind the grill of a vehicle, to detect the speed and distance of the vehicle ahead of it. It mainly reduces the driver's fatigue during long trip. X1*^3e@DUvyAk#/68!&mx]au)|> +%:}1E@rqXN[+Zfqsb 8 V\b _hqi;Rv3$0A;V. oa{y,BdgWIo+S8@H~e-FnN\#b9qAq3v6Dp6b:q3Pobvw%fdHq+xIC,fHBD@Gz0O Closed loop control systems have positives and negatives, including the following. More complicated systems use a microcontroller or programable logic controller to take several inputs and to control multiple outputs. document.getElementById( "ak_js" ).setAttribute( "value", ( new Date() ).getTime() ); We listen and understand our customers needs and problems. Also using the second equation, we see that the damping ratio must be greater than 0.6, . The following two equations will be used to find the damping ratio and the natural frequency: One of our design criteria is to have a rise time of less than 5 seconds. The E-Sign Act (Electronic Signatures in Global and National Commerce Act) is a U.S. federal law that specifies that, in the Enterprise project management (EPM) represents the professional practices, processes and tools involved in managing multiple Project portfolio management is a formal approach used by organizations to identify, prioritize, coordinate and monitor projects SWOT analysis is a framework for identifying and analyzing an organization's strengths, weaknesses, opportunities and threats. When the temperature is below the set point, it turns the heater on. As you can see, the steady-state error has been reduced to near zero. "How Cruise Control Systems Work" l9`7=8D1^yNU!!.g[I$Jm+&]G=YM{=P|,#-_kskKO_~![|,3CzDx}pp?p4s} We've already discussed the proportional factor. The closed-loop transfer function for this Remember that the derivative of speed is acceleration. 0000008713 00000 n Closed loop control systems enable automation in a number of industrial and environmental settings and regulate processes in industrial control systems, such as supervisory control and data acquisition and distributed control systems. Every voyage on a ship that's not U.S. flagged, departing from and returning to a U.S. port must, according to maritime law . If the inertia of the wheels is neglected, and it is assumed that friction (which is proportional to the car's speed) is what is opposing the motion of the car, then the problem is reduced to the simple mass and . We can then generate the new closed-loop step response as follows. criteria. 0000002553 00000 n <br>After the armed forces started my career in the maritime business 2007 as a TOA at Leonhardt & Blumberg shipping company. `^AS* R3=U83-Ifeo}4'-z)O2Y3K}c;KN{vc; sd :HQP( L@.PAl] a` 0. since the maximum overshoot must be less than 10%. The key difference between these types of control systems involves how they handle feedback. However, this new system can automatically adjust speed in order to maintain a proper distance between vehicles in the same lane. If the inertia of the wheels is neglected, and it is assumed that friction (which is proportional to the car's speed) is what is opposing the motion of the car, then the problem is reduced to the simple mass and damper system . But cruise control actuates the throttle valve by a cable connected to an actuator, instead of by pressing a pedal. Let us know and well be in touch. The purpose of this notebook is to introduce for the analysis of block diagrams made up of linear transfer functions. CRUISE CONTROL Cruise control (speed control, auto-cruise or tempomat) is a system that automatically controls the speed of a motor vehicle. 0000001873 00000 n damage. A closed loop control system is a mechanical or electronic device that automatically regulates a system to maintain a desired state or set point without human interaction. Using simple elements, it is possible to create models to study the relationship between control structure, process response, and control action. Have operational experience in crisis areas like Bosnia as well in Afghanistan. jk- All Rights Reserved, ){]&s@>)h;x7O`V>GHU.uwS0V"pRi>`eZ?wD kk/mUw;lV);# .F;A^lE"x%qo?|*O%_/^pSJLTBoU2O1(r#5_ cBNTwHvhGoOQ|`?q${1GMa\o\Q1]^@? (v3 tF1pwB7r} "*MN%[ 9%[N[b~8>=4zP Z'+Y(ofO. la`0h'CAJ#Wd(cAn Hb```VVa20p4 9`!}{g77pa~y s K %yLb^IxAAhG,.B!sG!Rhr/]/+h r9E^Pa`C/0}!3z 'yd [w9XC.Oh f'Qw {#itEpUz#M#l99w Oa_^jQz~_\6dI`7%;+q8fJa]OjQG%bE?wfD9uDnY| Z&JHwFl!OE~^)AGzv=5{yOY#38 7x!&.GkMTQ:vsc1| f|bX3#^ > u5MRJ'^CcFGkL`Bf&mL) &.W*'*lqB Uu{xcl97hV;.bF4;9k&#G;8$:pj;\mR x5ZOO^Ch-N|DPCYUA~26VhE3ZG@B^7ZK!Ha1rM7.$0uYDRkrc5SW5KYXu,/!Ri5Lq~~:]yGRP$NHLkhn_%>Tm\ 8SCO8+5I!

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