TY - JOUR A1 - Jung, Alexander A1 - Staat, Manfred A1 - Müller, Wolfram T1 - Corrigendum to “Flight style optimization in ski jumping on normal, large, and ski flying hills” [J. Biomech 47 (2014) 716–722] JF - Journals of Biomechanics Y1 - 2018 U6 - http://dx.doi.org/10.1016/j.jbiomech.2018.02.001 SN - 0021-9290 N1 - refers to Journal of Biomechanics Vol 47, Issue 3, Pages 716-722: https://doi.org/10.1016/j.jbiomech.2013.11.021 SP - 313 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Kampker, Achim A1 - Schleser, Markus A1 - Triebs, Johannes A1 - Berg, Alexander-Karl A1 - Hansen, Jan Ole A1 - Fiedler, Falko T1 - Bauteilintegrierte Vorrichtungsfunktionen im Karosseriebau : Aktuelle Ergebnisse im Forschungsprojekt ProeK JF - ZWF Zeitschrift für wirtschaftlichen Fabrikbetrieb N2 - Das Forschungsprojekt Produktionseffizienz in der Kleinserie (ProeK) erarbeitet kostengünstige und effiziente Lösungsansätze für Prozessketten im Zukunftsfeld der Elektromobilität. Das Teilprojekt Karosserie setzt diese Zielsetzung durch innovative und praxisorientierte Produkt- und Prozesskonzepte mit neuartigen bauteilintegrierten Vorrichtungsfunktionen (BiV) um. Im Teilprojekt Außenhaut sollen Toleranzen adaptiv durch Anpassungen der Prozessparameter sowie Bauteilmanipulation kompensiert werden. Y1 - 2018 U6 - http://dx.doi.org/10.3139/104.112012 SN - 0947-0085 VL - 113 IS - 11 SP - 767 EP - 770 PB - De Gruyter CY - Berlin ER - TY - JOUR A1 - Ketelhut, Maike A1 - Göll, Fabian A1 - Braunstein, Björn A1 - Albracht, Kirsten A1 - Abel, Dirk T1 - Comparison of different training algorithms for the leg extension training with an industrial robot JF - Current Directions in Biomedical Engineering N2 - In the past, different training scenarios have been developed and implemented on robotic research platforms, but no systematic analysis and comparison have been done so far. This paper deals with the comparison of an isokinematic (motion with constant velocity) and an isotonic (motion against constant weight) training algorithm. Both algorithms are designed for a robotic research platform consisting of a 3D force plate and a high payload industrial robot, which allows leg extension training with arbitrary six-dimensional motion trajectories. In the isokinematic as well as the isotonic training algorithm, individual paths are defined i n C artesian s pace by sufficient s upport p oses. I n t he i sotonic t raining s cenario, the trajectory is adapted to the measured force as the robot should only move along the trajectory as long as the force applied by the user exceeds a minimum threshold. In the isotonic training scenario however, the robot’s acceleration is a function of the force applied by the user. To validate these findings, a simulative experiment with a simple linear trajectory is performed. For this purpose, the same force path is applied in both training scenarios. The results illustrate that the algorithms differ in the force dependent trajectory adaption. KW - Rehabilitation Technology and Prosthetics KW - Surgical Navigation and Robotics Y1 - 2018 U6 - http://dx.doi.org/10.1515/cdbme-2018-0005 SN - 2364-5504 VL - 4 IS - 1 SP - 17 EP - 20 PB - De Gruyter CY - Berlin ER - TY - JOUR A1 - Keutmann, Sabine A1 - Staat, Manfred A1 - Laack, Walter van T1 - Untersuchung der thermischen Auswirkung von therapeutischem Ultraschall N2 - Zusammenfassung: In der Orthopädie zählt der therapeutische Ultraschall als Mittel zur Prävention und Therapiebegleitung. Er hat mechanische, thermische und physiko-chemische Auswirkungen auf den menschlichen Körper. Um mehr Erkenntnisse über die thermischen Auswirkungen zu erlangen, wurden Versuche an einem Hydrogel-Phantom und an Probanden durchgeführt. Dabei entstand eine signifikante Erwärmung des Gewebes, welche beim Probandenversuch an der Oberfläche und beim Hydrogelversuch in der Tiefe gemessen wurde. Summary: In orthopaedics, therapeutic ultrasound is a tool of prevention and therapy support. It has mechanical, thermal and physico-chemical effects on the human body. Tests with a hydrogel phantom and with human probands have been performed in order to obtain more knowledge about their thermal effects. Both tests measured temperature increases in cell tissue, on the surface with the human proband test and in depth with the hydrogel phantom test. T2 - Research about the thermal effects of therapeutic ultrasound Y1 - 2018 SN - 2193-5793 SN - 2193-5785 (Druckausgabe) VL - 7 IS - 10 SP - 518 EP - 522 PB - Deutscher Ärzte-Verl. CY - Köln ER - TY - JOUR A1 - Klocke, Martina A1 - Richert, Vera A1 - Sube, Maike T1 - Vier Jahre „Guter Studienstart im Ingenieurbereich“: Entwicklung und Perspektiven des „Nullten Semesters“ in Aachen JF - Zeitschrift für Beratung und Studium N2 - Bereits 2015 wurde in der Zeitschrift „Qualität in der Wissenschaft“ (QiW) über das Kooperationsprojekt „Guter Studienstart im Ingenieurbereich“, das Orientierungssemester von RWTH und FH Aachen, berichtet. In diesem Artikel legen wir den Schwerpunkt auf die Entwicklung des Projekts in den Jahren 2015 bis 2018 und geben eine Rückschau sowie einen Ausblick auf die Entwicklungsperspektiven nach dem offiziellen Projektende. Y1 - 2018 SN - 1860-3068 VL - 13 IS - 1 SP - 17 EP - 22 PB - Universitätsverlag Webler CY - Bielefeld ER - TY - JOUR A1 - Klubert, Joachim A1 - Malecha, Hartmut A1 - Sparla, Peter T1 - Modernisierung der geodätischen Messtechnik der Urfttalsperre JF - Wasserwirtschaft T2 - Modernisation of the geodetic measurement technology of the Urft dam Y1 - 2018 SN - 0043-0978 N1 - gedruckt in der Bereichsbibliothek Bayernallee vorhanden VL - 108 IS - 10 SP - 14 EP - 18 PB - Springer Vieweg CY - Wiesbaden ER - TY - JOUR A1 - Koch, Claudia A1 - Poghossian, Arshak A1 - Schöning, Michael Josef A1 - Wege, Christian T1 - Penicillin Detection by Tobacco Mosaic Virus-Assisted Colorimetric Biosensors JF - Nanotheranostics N2 - The presentation of enzymes on viral scaffolds has beneficial effects such as an increased enzyme loading and a prolonged reusability in comparison to conventional immobilization platforms. Here, we used modified tobacco mosaic virus (TMV) nanorods as enzyme carriers in penicillin G detection for the first time. Penicillinase enzymes were conjugated with streptavidin and coupled to TMV rods by use of a bifunctional biotin-linker. Penicillinase-decorated TMV particles were characterized extensively in halochromic dye-based biosensing. Acidometric analyte detection was performed with bromcresol purple as pH indicator and spectrophotometry. The TMV-assisted sensors exhibited increased enzyme loading and strongly improved reusability, and higher analysis rates compared to layouts without viral adapters. They extended the half-life of the sensors from 4 - 6 days to 5 weeks and thus allowed an at least 8-fold longer use of the sensors. Using a commercial budget-priced penicillinase preparation, a detection limit of 100 µM penicillin was obtained. Initial experiments also indicate that the system may be transferred to label-free detection layouts. Y1 - 2018 U6 - http://dx.doi.org/10.7150/ntno.22114 SN - 2206-7418 VL - 2 IS - 2 SP - 184 EP - 196 PB - Ivyspring CY - Sydney ER - TY - JOUR A1 - Kohler, Annette A1 - Kirschner-Hermanns, Ruth A1 - Staat, Manfred A1 - Brehmer, Bernhard T1 - Pathogenese, funktionelle und anatomische Aspekte der weiblichen Belastungsinkontinenz T1 - Female stress incontinence: aspects of pathogenesis and functional anatomy JF - Aktuelle Urologie N2 - Der vorliegende Artikel fokussiert sich auf die weibliche Belastungsinkontinenz als Insuffizienz der Speicherfunktion der Blase, auch wenn im klinischen Alltag die Harninkontinenz der Frau häufig verschiedene Ursachen hat und insbesondere eine Belastungsinkontinenz im Alter und bei neurologischer Komorbidität nur selten isoliert vorkommt. Das kleine Becken der Frau ist sowohl als Funktions- als auch als strukturelle Einheit zu betrachten. Dabei unterliegen bei der Frau Blase, Harnröhre, Gebärmutter und Enddarm sowie die muskulären und ligamentösen Strukturen des kleinen Beckens durch Fertilitätsphase, mögliche Schwangerschaften, Geburten und Menopausen-Phase, über das „normale Altern“ hinaus, gravierenden Veränderungen. This article focuses on female stress incontinence in the form of pelvic floor dysfunction and urethral sphincter deficiency, although isolated stress incontinence accounts for less than half of all incontinence cases. Especially in women of old age and those with neurological comorbidities, the causes of incontinence are mostly multifactorial. Also it has to be considered that the female bladder, urethra, uterus and rectum as well as the muscular and ligamentous structures of the female pelvis minor are affected by phases of fertility, possible pregnancies, births and menopause in addition to the normal ageing process. Y1 - 2018 U6 - http://dx.doi.org/10.1055/s-0043-120616 SN - 1438-8820 VL - 49 IS - 1 SP - 47 EP - 51 PB - Thieme CY - Stuttgart ER - TY - JOUR A1 - Kotliar, Konstantin A1 - Lanzl, Ines T1 - Vaskuläre Biomarker der retinalen Gefäβanalyse T1 - Vascular Biomarkers in Retinal Vessel Analysis JF - Klinische Monatsblätter fur Augenheilkunde N2 - Mit modernen nicht invasiven bildgebenden Verfahren lassen sich anhand der Fundusfotografie bzw. der optischen Verfilmung Aspekte der funktionellen und strukturellen retinalen Gefäßveränderungen objektiv untersuchen. Der Zustand und das Verhalten retinaler Gefäße beeinflussen im prä-, post- und kapillaren Bereich den Blutfluss und strömungsbedingte Stoffwechselverhältnisse passiv und aktiv über den Gefäßdurchmesser. Retinale Gefäße gleichen von Aufbau und Funktion den zerebralen Gefäßen und spiegeln den Zustand der Mikrozirkulation wider. Mithilfe von aus den Gefäßweiten berechneten Biomarkern soll eine Aussage über die Prognose von systemischen vaskulär bedingten Erkrankungen getroffen werden. Die statische retinale Gefäßanalyse befasst sich mit der Untersuchung des Zustandes der prä- und postkapillaren Gefäßdurchmesser der retinalen Mikrozirkulation anhand einer optischen Fundusaufnahme. Bei der dynamischen retinalen Gefäßanalyse wird der Längsschnitt eines retinalen Gefäßes nicht invasiv funktionell und strukturell über einen Zeitraum vor, während und nach einer spezifischen vaskulären Stimulation untersucht. Die genaue Methodologie der Auswertung und die Bezeichnung der Parameter variieren bei unterschiedlichen Ansätzen. Mittels retinaler Gefäßanalyse wurden bislang mehrere klinische Querschnitts- und Interventionsstudien in der Augenheilkunde und anderen Fachgebieten, inkl. Kardiologie, Neurologie, Neurochirurgie, Nephrologie, Gynäkologie, Sportmedizin, Diabetologie, Hypertensiologie usw. durchgeführt. Mit der statischen retinalen Gefäßanalyse steht eine kostengünstige, reproduzierbare, nicht invasive Screeningtechnik zur Verfügung, um eine prognostische Aussage über die Gefäßgesundheit eines individuellen Patienten zu treffen. Die dynamische retinale Gefäßanalyse besitzt ein weiteres diagnostisches Anwendungsspektrum als die statische, da sie das Verhalten retinaler Gefäße zeitkontinuierlich untersucht. Die Evaluation vaskulärer Erkrankungen sowie zerebro- bzw. kardiovaskulärer Morbidität und Mortalität mittels mehrerer methodologischer Modalitäten retinaler Gefäßanalyse mit ihren jeweiligen quantitativen Biomarkern bietet eine zukunftsträchtige diagnostische Perspektive. Die interdisziplinäre klinische Anwendung dieser vaskulären Biomarker gewinnt zunehmend an Bedeutung, sowohl in der Augenheilkunde als auch in anderen Fachgebieten. Y1 - 2018 U6 - http://dx.doi.org/10.1055/a-0774-7987 SN - 0023-2165 VL - 235 IS - 12 SP - 1352 EP - 1359 PB - Thieme CY - Stuttgart ER - TY - JOUR A1 - Kunkel, Maximilian Hugo A1 - Gebhardt, Andreas A1 - Mpofu, Khumbaulani A1 - Kallweit, Stephan T1 - Statistical assessment of mechanical properties of selective laser melted specimens of stainless steel JF - The International Journal of Advanced Manufacturing Technology N2 - The rail business is challenged by long product life cycles and a broad spectrum of assembly groups and single parts. When spare part obsolescence occurs, quick solutions are needed. A reproduction of obsolete parts is often connected to long waiting times and minimum lot quantities that need to be purchased and stored. Spare part storage is therefore challenged by growing stocks, bound capital and issues of part ageing. A possible solution could be a virtual storage of spare parts which will be 3D printed through additive manufacturing technologies in case of sudden demand. As mechanical properties of additive manufactured parts are neither guaranteed by machine manufacturers nor by service providers, the utilization of this relatively young technology is impeded and research is required to address these issues. This paper presents an examination of mechanical properties of specimens manufactured from stainless steel through the selective laser melting (SLM) process. The specimens were produced in multiple batches. This paper interrogates the question if the test results follow a normal distribution pattern and if mechanical property predictions can be made. The results will be put opposite existing threshold values provided as the industrial standard. Furthermore, probability predictions will be made in order to examine the potential of the SLM process to maintain state-of-the-art mechanical property requirements. Y1 - 2018 U6 - http://dx.doi.org/10.1007/s00170-018-2040-8 SN - 0268-3768 VL - 98 IS - 5-8 SP - 1409 EP - 1431 PB - Springer CY - London ER - TY - JOUR A1 - Kurz, Melanie T1 - Was heißt: Verantwortung im Design? Historische Positionen JF - Boxhorn: das Magazin aus dem Fachbereich Gestaltung der FH Aachen Y1 - 2018 IS - 34 SP - 26 EP - 33 CY - Aachen ER - TY - JOUR A1 - König, Johannes Alexander A1 - Wolf, Martin T1 - GHOST: An Evaluated Competence Developing Game for Cybersecurity Awareness Training JF - International Journal on Advances in Security N2 - To train end users how to interact with digital systems is indispensable to ensure a strong computer security. 'Competence Developing Game'-based approaches are particularly suitable for this purpose because of their motivation-and simulation-aspects. In this paper the Competence Developing Game 'GHOST' for cybersecurity awareness trainings and its underlying patterns are described. Accordingly, requirements for an 'Competence Developing Game' based training are discussed. Based on these requirements it is shown how a game can fulfill these requirements. A supplementary game interaction design and a corresponding evaluation study is shown. The combination of training requirements and interaction design is used to create a 'Competence Developing Game'-based training concept. A part of these concept is implemented into a playable prototype that serves around one hour of play respectively training time. This prototype is used to perform an evaluation of the game and training aspects of the awareness training. Thereby, the quality of the game aspect and the effectiveness of the training aspect are shown. Y1 - 2018 SN - 1942-2636 VL - 11 IS - 3 & 4 SP - 274 EP - 287 PB - IARIA Journals ER - TY - JOUR A1 - Lapitan, Denis G. A1 - Rogatkin, Dmitrii A. A1 - Persheyev, Sydulla K. A1 - Kotliar, Konstantin T1 - False spectra formation in the differential two-channel scheme of the laser Doppler flowmeter JF - Biomedizinische Technik N2 - Noise in the differential two-channel scheme of a classic laser Doppler flowmetry (LDF) instrument was studied. Formation of false spectral components in the output signal due to beating of electrical signals in the differential amplifier was found out. The improved block-diagram of the flowmeter was developed allowing to reduce the noise. Y1 - 2018 U6 - http://dx.doi.org/10.1515/bmt-2017-0060 SN - 0013-5585 VL - 63 IS - 4 SP - 439 EP - 444 PB - De Gruyter CY - Berlin ER - TY - JOUR A1 - Laura, C.O. A1 - Drechsler, Klaus A1 - Erdt, M. A1 - Wesarg, S. A1 - Bale, R. T1 - Intervention assessment tool for primary tumors in the liver JF - Current Directions in Biomedical Engineering N2 - After a liver tumor intervention the medical doctor has to compare both pre and postoperative CT acquisitions to ensure that all carcinogenic cells are destroyed. A correct assessment of the intervention is of vital importance, since it will reduce the probability of tumor recurrence. Some methods have been proposed to support the medical doctors during the assessment process, however, all of them focus on secondary tumors. In this paper a tool is presented that enables the outcome validation for both primary and secondary tumors. Therefore, a multiphase registration (preoperative arterial and portal phases) followed by a registration between the pre and postoperative CT images is carried out. The first registration is in charge of the primary tumors that are only visible in the arterial phase. The secondary tumors will be incorporated in the second registration step. Finally, the part of the tumor that was not covered by the necrosis is quantified and visualized. The method has been tested in 9 patients, with an average registration error of 1.41 mm. Y1 - 2018 U6 - http://dx.doi.org/10.1515/cdbme-2018-0081 SN - 2364-5504 VL - 4 IS - 1 SP - 337 EP - 340 PB - De Gruyter CY - Berlin ER - TY - JOUR A1 - Lind, Thorsten Patric T1 - Neues zur Geschäftsführerhaftung nach § 64 GmbHG - Zugleich Anmerkung zu BGH vom 19.12.2017 - II ZR 88/16, DB 2018 S. 307, und vom 04.07.2017 - II ZR 319/15, DB 2017 S. 1959 - JF - Der Betrieb Y1 - 2018 SN - 0005-9935 IS - 17 SP - 1003 EP - 1008 PB - Fachmedien Otto Schmidt CY - Düsseldorf ER - TY - JOUR A1 - Matcha, Heike A1 - Ljubas, Ante A1 - Gueldemet, Harun ED - Kepczynska-Walczak, A. T1 - Printing a Coffee Bar: An investigation into mid-scale 3D printing JF - Computing for a better tomorrow - Proceedings of the 36th eCAADe Conference - Volume 2, Lodz University of Technology, Lodz, Poland, 19-21 September 2018 N2 - We present and discuss an exploration of the possibilities and properties of 3D printing with a printing space of 1 cubic meter, and how those can be integrated into architectural education through an experimental design and research course with students of architecture.We expand on issues presented at the eCAADe conference 2017 in Rome [Ref 6] by increasing the complexity and size of our prints, printing not a model to scale, but a full scale funtional prototype of a usable architectural object: A coffee bar. Y1 - 2018 SP - 59 EP - 68 ER - TY - JOUR A1 - Michaux, F. A1 - Mattern, P. A1 - Kallweit, Stephan T1 - RoboPIV: how robotics enable PIV on a large industrial scale JF - Measurement Science and Technology N2 - This work demonstrates how the interaction between particle image velocimetry (PIV) and robotics can massively increase measurement efficiency. The interdisciplinary approach is shown using the complex example of an automated, large scale, industrial environment: a typical automotive wind tunnel application. Both the high degree of flexibility in choosing the measurement region and the complete automation of stereo PIV measurements are presented. The setup consists of a combination of three robots, individually used as a 6D traversing unit for the laser illumination system as well as for each of the two cameras. Synchronised movements in the same reference frame are realised through a master-slave setup with a single interface to the user. By integrating the interface into the standard wind tunnel management system, a single measurement plane or a predefined sequence of several planes can be requested through a single trigger event, providing the resulting vector fields within minutes. In this paper, a brief overview on the demands of large scale industrial PIV and the existing solutions is given. Afterwards, the concept of RoboPIV is introduced as a new approach. In a first step, the usability of a selection of commercially available robot arms is analysed. The challenges of pose uncertainty and importance of absolute accuracy are demonstrated through comparative measurements, explaining the individual pros and cons of the analysed systems. Subsequently, the advantage of integrating RoboPIV directly into the existing wind tunnel management system is shown on basis of a typical measurement sequence. In a final step, a practical measurement procedure, including post-processing, is given by using real data and results. Ultimately, the benefits of high automation are demonstrated, leading to a drastic reduction in necessary measurement time compared to non-automated systems, thus massively increasing the efficiency of PIV measurements. Y1 - 2018 U6 - http://dx.doi.org/10.1088/1361-6501/aab5c1 SN - 1361-6501 N1 - Special Section on the 12th International Symposium on Particle Image Velocimetry (PIV 2017) VL - 29 IS - 7 SP - 074009 PB - IOP CY - Bristol ER - TY - JOUR A1 - Michel, Philipp A1 - Butenweg, Christoph A1 - Kinkel, Sven T1 - Pile-grid foundations of onshore wind turbines considering soil-structure-interaction under seismic loading JF - Soil Dynamics and Earthquake Engineering N2 - In recent years, many onshore wind turbines are erected in seismic active regions and on soils with poor load bearing capacity, where pile grids are inevitable to transfer the loads into the ground. In this contribution, a realistic multi pile grid is designed to analyze the dynamics of a wind turbine tower including frequency dependent soil-structure-interaction. It turns out that different foundations on varying soil configurations heavily influence the vibration response. While the vibration amplitude is mostly attenuated, certain unfavorable combinations of structure and soil parameters lead to amplification in the range of the system's natural frequencies. This testifies the need for overall dynamic analysis in the assessment of the dynamic stability and the holistic frequency tuning of the turbines. Y1 - 2018 U6 - http://dx.doi.org/10.1016/j.soildyn.2018.03.009 SN - 0267-7261 VL - 109 SP - 299 EP - 311 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Miyamoto, Koichiro A1 - Seki, Kosuke A1 - Suto, Takeyuki A1 - Werner, Frederik A1 - Wagner, Torsten A1 - Schöning, Michael Josef A1 - Yoshinobu, Tatsuo T1 - Improved spatial resolution of the chemical imaging sensor with a hybrid illumination that suppresses lateral diffusion of photocarriers JF - Sensor and Actuators B: Chemical N2 - The chemical imaging sensor is a semiconductor-based chemical sensor capable of visualizing pH and ion distributions. The spatial resolution depends on the lateral diffusion of photocarriers generated by illumination of the semiconductor substrate. In this study, two types of optical setups, one based on a bundle of optical fibers and the other based on a binocular tube head, were developed to project a hybrid illumination of a modulated light beam and a ring-shaped constant illumination onto the sensor plate. An improved spatial resolution was realized by the ring-shaped constant illumination, which suppressed lateral diffusion of photocarriers by enhanced recombination due to the increased carrier concentration. Y1 - 2018 U6 - http://dx.doi.org/10.1016/j.snb.2018.07.016 SN - 0925-4005 VL - 273 SP - 1328 EP - 1333 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Molinnus, Denise A1 - Hardt, G. A1 - Käver, L. A1 - Willenberg, H.S. A1 - Kröger, J.-C. A1 - Poghossian, Arshak A1 - Keusgen, Michael A1 - Schöning, Michael Josef T1 - Chip-based biosensor for the detection of low adrenaline concentrations to support adrenal venous sampling JF - Sensor and Actuators B: Chemical N2 - A chip-based amperometric biosensor referring on using the bioelectrocatalytical amplification principle for the detection of low adrenaline concentrations is presented. The adrenaline biosensor has been prepared by modification of a platinum thin-film electrode with an enzyme membrane containing the pyrroloquinoline quinone-dependent glucose dehydrogenase and glutaraldehyde. Measuring conditions such as temperature, pH value, and glucose concentration have been optimized to achieve a high sensitivity and a low detection limit of about 1 nM adrenaline measured in phosphate buffer at neutral pH value. The response of the biosensor to different catecholamines has also been proven. Long-term stability of the adrenaline biosensor has been studied over 10 days. In addition, the biosensor has been successfully applied for adrenaline detection in human blood plasma for future biomedical applications. Furthermore, preliminary experiments have been carried to detect the adrenaline-concentration difference measured in peripheral blood and adrenal venous blood, representing the adrenal vein sampling procedure of a physician. Y1 - 2018 U6 - http://dx.doi.org/10.1016/j.snb.2018.05.136 SN - 0925-4005 VL - 272 SP - 21 EP - 27 PB - Elsevier CY - Amsterdam ER -