• 제목/요약/키워드: x-y table

검색결과 325건 처리시간 0.026초

미정보 환경 하에서 신경회로망 힘추종 로봇 제어 기술의 실험적 연구 (Experimental Studies on Neural Network Force Tracking Control Technique for Robot under Unknown Environment)

  • 정슬;임선빈
    • 제어로봇시스템학회논문지
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    • 제8권4호
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    • pp.338-344
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    • 2002
  • In this paper, neural network force tracking control is proposed. The conventional impedance function is reformulated to have direct farce tracking capability. Neural network is used to compensate for all the uncertainties such as unknown robot dynamics, unknown environment stiffness, and unknown environment position. On line training signal of farce error for neural network is formulated. A large x-y table is built as a test-bed and neural network loaming algorithm is implemented on a DSP board mounted in a PC. Experimental studies of farce tracking on unknown environment for x-y table robot are presented to confirm the performance of the proposed technique.

산업용 자동 재봉기 제어장치 개발에 관한 연구 (A study on the development of automatic sewing machine)

  • 김종찬;라승호;이응혁;허경
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.281-285
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    • 1990
  • Our N.C. sewing machine is a device that acts sewing automatically in reference to N.C. data made by data input device. Our N.C. sewing mechine is composed of induction motor that has electric clutch and brake, step motor that drives x-y table. Sewing area of our machine is 170 mm * 100 mm, maximum sewing speed is about 2000 spm, maximum stitch length 6.2 mm. In actual sewing, synchronization between motion of needle up-down and motion of x-y table is a critical factor. In this paper, technology about synchronization will be profoundly discussed.

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화상처리를 이용한 PCB 스크린 인쇄기의 정밀위치제어 (Precision Position Control for PCB Screen Printer Using Image Processing)

  • 이근유;부이트롱휴;김동규;박순실;김상봉
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.295-295
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    • 2000
  • In this paper, the measurement algorithm of PCB alignment error is developed using image processing. The X-Y-$\theta$ table correcting PCB alignment error is driven by drive module based on microprocessor according to calculation results obtained through image processing procedure. In order to recognize the X-Y-$\theta$ position errors, two fiducial points are marked on PCB and two cameras of ultraviolet rays types are used for detection of the points to capture exactly fiducial points under disturbance of illumination change. Through application for a practical screen printer, the precision control using the developed position control system can be realized about 2.5${\mu}{\textrm}{m}$ in table moving range and 8${\mu}{\textrm}{m}$ in camera processing precision.

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실험적 진화 프로그래밍을 이용한 초정밀 위치 제어 (High-Precision Controller Design Using Evolutionary Programming)

  • 전정열;김종환
    • 한국지능시스템학회:학술대회논문집
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    • 한국퍼지및지능시스템학회 1995년도 추계학술대회 학술발표 논문집
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    • pp.211-217
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    • 1995
  • Conventional linear control fails to provide precise positioning of a control object under the influence of friction, deadzone, saturation, etc. This paper proposes a high-precision control scheme for a precise point-to-point positioning system, called an X-Y table, even under the same influences above. The proposed scheme is composed of a fuzzy precompensator and a PD controller. The fuzzy precompensator is employed to improve the performance of the PD controller. Its fuzzy rules are obtained from experimental evolutionary programming (EP), not from an expert. The effectiveness of the scheme is demonstrated by experiments on the X-Y table. with a positioning error of within 1$\mu\textrm{m}$.

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대두육종에 있어서의 선발에 관한 실험적연구 -속보 : 유전력ㆍ유전상관, 그리고 선발지수의 재검토- (Studies on the selection in soybean breeding. -II. Additional data on heritability, genotypic correlation and selection index-)

  • 장권열
    • 한국작물학회지
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    • 제3권
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    • pp.89-98
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    • 1965
  • 대두증산의 중요성에 미추어 대두의 다수계통 선발을 위하여 전년에 공시한 22품종을 재료로 각 형질의 유전력, 각 형질상호간의 유전상관, 그리고 선발지수 등을 재검토하기 위하여 선발시험을 한 바 대체로 전보 전년의 결과와 같다. 1. 유전력 : 유전력을 추정하기 위하여 파종기별로 각 형질의 평균치의 변동을 보면 제1표와 같이 파종기가 지연됨에 따라 형질의 평균치는 감소하고 (Table 1), 형질중에는 환경에 따라 크게 영향을 받는 것도 있으며(Table 2), 각 형질별 유전력을 추정한 바 그 결과는 제3표와 같다. 즉 개화일수ㆍ결실일수ㆍ생육일수 등 생유기간에 관계되는 형질은 그의 유전력이 높고 형태적 특성에 관계되는 형질중에서도 경장 100입중은 높으나 수량에 관여하는 형질 등은 낮았다. 그리고 파종기에 따라서도 변동을 하며 대체로 파종기가 늦어짐에 따라 감소하는 경향이 보인다(Table 3). 2. 유전상관 : 각 형질 상호간의 유전상관ㆍ표현형상관을 알기 위하여 각 형질의 표현형분산과 각 형질 상호간의 표현형공분산ㆍ유전공분산. 그리고 환경공분산을 산출한 바 그 결과는 제4,5표와 같고(Table 4,5), 그들의 유전상관과 표현형상관은 제6표와 같다(Table 6). 대체로 유전사관의 정도는 표현형상관보다높으나 파종기에 따라서도 변동하고 있다. 일주입중 즉 수랴오가 타형질과의 상관을 보면 대체로 전보와 같이 100입중이외의 제형질은 정의 상관을 보이며, 파종기에 따라서도 그 값이 변동을 하나 전보에서는 일주입중과 분지수 사이에 고도의 상관관계가 보였으나, 본실험에 있어서는 상관의 경향이 보였을 따름이다. 그리고 본실험에 있어서는 일주협수와 일주입수간에서 유전상관이 1이상의 이상치를 보였다. 3. 선발지수 : 선발이 최종 대상형질을 일주입중(형질 Y)으로 하여 여기에 어려 형질을 조합한 선발지수(Selection index A)와 최종 대상형질을 수량과 높은 유전상관이 있는 일주협수(형질 Y')로 하여 여기에 여러 형질을 조합한 선발지수(Selection index B)를 Robinson et al.의 방법에 의하여 작성하여 본 바 제7표와 같다(Table 7). 전보의 결과와 같이 대두의 선발에 있어서는 최종 대상형질을 일주입중 대신에 일주협수로써 선발하여도 대차가 없고, 선발대상형질을 4개형질이상인 경우에는 그 효과가 조사와 산출에 요하는 노력에 비하여 크게 기대될 정도가 못된다. 이와 같은 점에서 다수확을 목표로 하는 선발은 탈곡조제 전에 일주협수ㆍ분지수ㆍ경직경 등에 대하여 조사를 하고 선발지수를 산출하여 Selection score가 큰 계통부터 선발하여 가면 될 것으로 믿는다. 그리고 선발을 위한 대상형질로는 생육일수(X$_1$)ㆍ분지수(X$_2$)ㆍ경직경(X$_3$), 그리고 일주협수(X$_4$)의 4개형질 혹은 분지수(X$_2$)ㆍ경직경(X$_3$), 그리고 일주협수(X$_4$)의 3개형질로 할 것이 요망되고, 이들 형질의 측정치로 선발지수를 작성하여 그 지수에서 산출된 Selection score가 큰 계통부터 선발해 나가는 것이 선발지수의 이용상 실용적이고 효과적인 방법이라 하겠다.

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A NUMERICAL INVESTIGATION ON THE ZEROS OF THE TANGENT POLYNOMIALS

  • Ryoo, C.S.
    • Journal of applied mathematics & informatics
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    • 제32권3_4호
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    • pp.315-322
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    • 2014
  • In this paper, we observe the behavior of complex roots of the tangent polynomials $T_n(x)$, using numerical investigation. By means of numerical experiments, we demonstrate a remarkably regular structure of the complex roots of the tangent polynomials $T_n(x)$. Finally, we give a table for the solutions of the tangent polynomials $T_n(x)$.

Logit Confidence Intervals Using Pseudo-Bayes Estimators for the Common Odds Ratio in 2 X 2 X K Contingency Tables

  • Kim, Donguk;Chun, Eunhee
    • Communications for Statistical Applications and Methods
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    • 제10권2호
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    • pp.479-496
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    • 2003
  • We investigate logit confidence intervals for the odds ratio based on the delta method. These intervals are constructed using pseudo-Bayes estimators. The Gart method and Agresti method smooth the observed counts toward the model of equiprobability and independence, respectively. We obtain better coverage probability by smoothing the observed counts toward the pseudo-Bayes estimators in 2$\times$2 table. We also improve legit confidence intervals in 2$\times$2$\times$K tables by generalizing these ideas. Utilizing pseudo-Bayes estimators, we obtain better coverage probability by smoothing the observed counts toward the conditional independence model, no three-factor interaction model and saturated model in 2$\times$2$\times$K tables.

인공진동의 크기가 양생콘크리트의 강도와 물성에 미치는 영향 (Effects of Artificial Vibrations on Strength and Physical Properties of Curing Concrete)

  • 임한욱;정동호;이상은
    • 터널과지하공간
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    • 제4권1호
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    • pp.31-37
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    • 1994
  • The effects of blasting and ground vibratons on curing concrete have not been well studied. As a results unrealistic and costly ground vibration constraints have been placed on blasting and piling when it occurs in the vicinity of curing concrete. To study the effects of ground vibrations, a shaking table was made to produce peak particle velocities in the nearly same frequency range as found in construction blasting. Concrete blocks of 33.3X27.7X16.2cm were molded and placed on the shaking table. Different sets of concrete blocks were subjected to peak vibrations of 0.25, 0.5, 1.0, 5.0 and 10cm/sec. The impulses were applied at two hour intervals for thirty seconds. Along with unvibrated concrete blocks, the vibrated concrete samples with 60.3mm in diameters were measured for elastic moduli, sonic velocity, tensile and uniaxial compressive strength. Test results showed that the vibrations in curing concrete generally have effects on the uniaxial compressive strength or physical properties of the concrete.

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논벼 장.단간품종의 증발산제계수와 건물량과의 관계에 대한 연구(I) (Studies on Relations between Various Coeffcients of Evapo-Transpiration and Quantities of Dry Matters for Tall-and Short Statured Varieties of Paddy Rice)

  • 류한열;김철기
    • 한국농공학회지
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    • 제16권2호
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    • pp.3361-3394
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    • 1974
  • The purpose of this thesis is to disclose some characteristics of water consumption in relation to the quantities of dry matters through the growing period for two statured varieties of paddy rice which are a tall statured variety and a short one, including the water consumption during seedling period, and to find out the various coefficients of evapotranspiration that are applicable for the water use of an expected yield of the two varieties. PAL-TAL, a tall statured variety, and TONG-lL, a short statured variety were chosen for this investigation. Experiments were performed in two consecutive periods, a seedling period and a paddy field period, In the investigation of seedling period, rectangular galvanized iron evapotranspirometers (91cm${\times}$85cm${\times}$65cm) were set up in a way of two levels (PAL-TAL and TONG-lL varieties) with two replications. A standard fertilization method was applied to all plots. In the experiment of paddy field period, evapotanspiration and evaporation were measured separately. For PAL-TAL variety, the evapotranspiration measurements of 43 plots of rectangular galvanized iron evapotranspirometer (91cm${\times}$85cm${\times}$65cm) and the evaporation measurements of 25 plots of rectangular galvanized iron evaporimeter (91cm${\times}$85cm${\times}$15cm) have been taken for seven years (1966 through 1972), and for TONG-IL variety, the evapotranspiration measurements of 19 plots and the evaporation measurements of 12 plots have been collected for two years (1971 through 1972) with five different fertilization levels. The results obtained from this investigation are summarized as follows: 1. Seedling period 1) The pan evaporation and evapotranspiration during seedling period were proved to have a highly significant correlation to solar radiation, sun shine hours and relative humidity. But they had no significant correlation to average temperature, wind velocity and atmospheric pressure, and were appeared to be negatively correlative to average temperature and wind velocity, and positively correlative to the atmospheric pressure, in a certain period. There was the highest significant correlation between the evapotranspiration and the pan evaporation, beyond all other meteorological factors considered. 2) The evapotranpiration and its coefficient for PAL-TAL variety were 194.5mm and 0.94∼1.21(1.05 in average) respectively, while those for TONG-lL variety were 182.8mm and 0.90∼1.10(0.99 in average) respectively. This indicates that the evapotranspiration for TONG-IL variety was 6.2% less than that for PAL-TAL variety during a seedling period. 3) The evapotranspiration ratio (the ratio of the evapotranspiration to the weight of dry matters) during the seedling period was 599 in average for PAL-TAL variety and 643 for TONG-IL variety. Therefore the ratio for TONG-IL was larger by 44 than that for PAL-TAL variety. 4) The K-values of Blaney and Criddle formula for PAL-TAL variety were 0.78∼1.06 (0.92 in average) and for TONG-lL variety 0.75∼0.97 (0.86 in average). 5) The evapotranspiration coefficient and the K-value of B1aney and Criddle formular for both PAL-TAL and TONG-lL varieties showed a tendency to be increasing, but the evapotranspiration ratio decreasing, with the increase in the weight of dry matters. 2. Paddy field period 1) Correlation between the pan evaporation and the meteorological factors and that between the evapotranspiration and the meteorological factors during paddy field period were almost same as that in case of the seedling period (Ref. to table IV-4 and table IV-5). 2) The plant height, in the same level of the weight of dry matters, for PAL-TAL variety was much larger than that for TONG-IL variety, and also the number of tillers per hill for PAL-TAL variety showed a trend to be larger than that for TONG-IL variety from about 40 days after transplanting. 3) Although there was a tendency that peak of leaf-area-index for TONG-IL variety was a little retarded than that for PAL-TAL variety, it appeared about 60∼80 days after transplanting. The peaks of the evapotranspiration coefficient and the weight of dry matters at each growth stage were overlapped at about the same time and especially in the later stage of growth, the leaf-area-index, the evapotranspiration coefficient and the weight of dry matters for TONG-IL variety showed a tendency to be larger then those for PAL-TAL variety. 4) The evaporation coefficient at each growth stage for TONG-IL and PAL-TALvarieties was decreased and increased with the increase and decrease in the leaf-area-index, and the evaporation coefficient of TONG-IL variety had a little larger value than that of PAL-TAL variety. 5) Meteorological factors (especially pan evaporation) had a considerable influence to the evapotranspiration, the evaporation and the transpiration. Under the same meteorological conditions, the evapotranspiration (ET) showed a increasing logarithmic function of the weight of dry matters (x), while the evaporation (EV) a decreasing logarithmic function of the weight of dry matters; 800kg/10a x 2000kg/10a, ET=al+bl logl0x (bl>0) EV=a2+b2 log10x (a2>0 b2<0) At the base of the weight of total dry matters, the evapotranspiration and the evaporation for TONG-IL variety were larger as much as 0.3∼2.5% and 7.5∼8.3% respectively than those of PAL-TAL variety, while the transpiration for PAL-TAL variety was larger as much as 1.9∼2.4% than that for TONG-IL variety on the contrary. At the base of the weight of rough rices the evapotranspiration and the transpiration for TONG-IL variety were less as much as 3.5% and 8.l∼16.9% respectively than those for PAL-TAL variety and the evaporation for TONG-IL was much larger by 11.6∼14.8% than that for PAL-TAL variety. 6) The evapotranspiration coefficient, the evaporation coefficient and the transpiration coefficient and the transpiration coefficient were affected by the weight of dry matters much more than by the meteorological conditions. The evapotranspiratioa coefficient (ETC) and the evaporation coefficient (EVC) can be related to the weight of dry matters (x) by the following equations: 800kg/10a x 2000kg/10a, ETC=a3+b3 logl0x (b3>0) EVC=a4+b4 log10x (a4>0, b4>0) At the base of the weights of dry matters, 800kg/10a∼2000kg/10a, the evapotranspiration coefficients for TONG-IL variety were 0.968∼1.474 and those for PAL-TAL variety, 0.939∼1.470, the evaporation coefficients for TONG-IL variety were 0.504∼0.331 and those for PAL-TAL variety, 0.469∼0.308, and the transpiration coefficients for TONG-IL variety were 0.464∼1.143 and those for PAL-TAL variety, 0.470∼1.162. 7) The evapotranspiration ratio, the evaporation ratio (the ratio of the evaporation to the weight of dry matters) and the transpiration ratio were highly affected by the meteorological conditions. And under the same meteorological condition, both the evapotranspiration ratio (ETR) and the evaporation ratio (EVR) showed to be a decreasing logarithmic function of the weight of dry matters (x) as follows: 800kg/10a x 2000kg/10a, ETR=a5+b5 logl0x (a5>0, b5<0) EVR=a6+b6 log10x (a6>0 b6<0) In comparison between TONG-IL and PAL-TAL varieties, at the base of the pan evaporation of 343mm and the weight of dry matters of 800∼2000kg/10a, the evapotranspiration ratios for TONG-IL variety were 413∼247, while those for PAL-TAL variety, 404∼250, the evaporation ratios for TONG-IL variety were 197∼38 while those for PAL-TAL variety, 182∼34, and the transpiration ratios for TONG-IL variety were 216∼209 while those for PAL-TAL variety, 222∼216 (Ref. to table IV-23, table IV-25 and table IV-26) 8) The accumulative values of evapotranspiration intensity and transpiration intensity for both PAL-TAL and TONG-IL varieties were almost constant in every climatic year without the affection of the weight of dry matters. Furthermore the evapotranspiration intensity appeared to have more stable at each growth stage. The peaks of the evapotranspiration intensity and transpiration intensity, for both TONG-IL and PAL-TAL varieties, appeared about 60∼70 days after transplanting, and the peak value of the former was 128.8${\pm}$0.7, for TONG-IL variety while that for PAL-TAL variety, 122.8${\pm}$0.3, and the peak value of the latter was 152.2${\pm}$1.0 for TONG-IL variety while that for PAL-TAL variety, 152.7${\pm}$1.9 (Ref.to table IV-27 and table IV-28) 9) The K-value in Blaney & Criddle formula was changed considerably by the meteorological condition (pan evaporation) and related to be a increasing logarithmic function of the weight of dry matters (x) for both PAL-TAL and TONG-L varieties as follows; 800kg/10a x 2000kg/10a, K=a7+b7 logl0x (b7>0) The K-value for TONG-IL variety was a little larger than that for PAL-TAL variety. 10) The peak values of the evapotranspiration coefficient and k-value at each growth stage for both TONG-IL and PAL-TAL varieties showed up about 60∼70 days after transplanting. The peak values of the former at the base of the weights of total dry matters, 800∼2000kg/10a, were 1.14∼1.82 for TONG-IL variety and 1.12∼1.80, for PAL-TAL variety, and at the base of the weights of rough rices, 400∼1000 kg/10a, were 1.11∼1.79 for TONG-IL variety and 1.17∼1.85 for PAL-TAL variety. The peak values of the latter, at the base of the weights of total dry matters, 800∼2000kg/10a, were 0.83∼1.39 for TONG-IL variety and 0.86∼1.36 for PAL-TAL variety and at the base of the weights of rough rices, 400∼1000kg/10a, 0.85∼1.38 for TONG-IL variety and 0.87∼1.40 for PAL-TAL variety (Ref. to table IV-18 and table IV-32) 11) The reasonable and practicable methods that are applicable for calculating the evapotranspiration of paddy rice in our country are to be followed the following priority a) Using the evapotranspiration coefficients based on an expected yield (Ref. to table IV-13 and table IV-18 or Fig. IV-13). b) Making use of the combination method of seasonal evapotranspiration coefficient and evapotranspiration intensity (Ref. to table IV-13 and table IV-27) c) Adopting the combination method of evapotranspiration ratio and evapotranspiration intensity, under the conditions of paddy field having a higher level of expected yield (Ref. to table IV-23 and table IV-27). d) Applying the k-values calculated by Blaney-Criddle formula. only within the limits of the drought year having the pan evaporation of about 450mm during paddy field period as the design year (Ref. to table IV-32 or Fig. IV-22).

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시설재배용 무인작업기를 위한 X-Y 테이블형 이동 시스템 개발 (A Traveling Control System with the X-Y Table Actuator for Unmanned Operation in the Greenhouse)

  • 김채웅;이대원
    • Journal of Biosystems Engineering
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    • 제23권2호
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    • pp.157-166
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    • 1998
  • In this study. a traveling control system was developed to transfer a machine without an operator in the working zone. The dimension of the system was modelized to design and construct smaller than that of real configuration of a greenhouse. For this system, the fixed path type was used to detect exact position during operating a manless machine. and the X-Y table actuator type to escape a unique path, which had the disadvantage in a fixed path type environment. Based on the results of this research the following conclusions were made : 1. This system used two screws to move toward horizontal direction, and a Plate to reach at any points in the working zone. 2. The software combined the functions of path selection and motor operation to control into one program. The path selection program was a menu driven program written in Visual Basic, and the motor operation program was written in Borland C++ for actuating motors. 3. The path-select mode of the program was used by selecting the desired paths, and the user path-create mode by selecting a random path in the path-selection program. 4. The system proved to be a reliable system for operating a manless machine, since accuracy and precision to reach the positions were less than 1%.

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