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`(51) Int: Cl..5:
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`F 16 P 3/112
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`G 05 B 9/002
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`DE 40 00 730 A 1
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`(19) F
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`FEDERAL RREPUBLIC
`MANY
`OF GERM
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`(12) Publlished Pateent Appliccation
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`(10) DE 440 00 730 AA 1
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`GGERMAN PAATENT
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`OFFIC
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`(21) Applicaation number: PP 40 00 730.8
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`(22) Filing ddate: 01/12/19990
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`(43) Date off Publication: 008/01/1991
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`(72) Invventors:
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`2 Mau, Gert, 7042ezheim, DE; MGerrhard, 7557 Iffe
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`deck, DE; 594 KappelrodLammm, Hubert, 75
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`Kie
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`fer, Stefan 76001 Ortenberg, DDE; Knecht,
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`Aiddlingen, DE; Zoottmaier, Raineer, Dr., 7300
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`Essllingen, DE
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`(71) AApplicant:
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` RRD
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`Robert Bosch GGmbH, 7000 Stuuttgart, DE;
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`DE; Domatic GmmbH, 7034 Gaaertringen, DE
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`, Reitter & Schefefenacker KG, 7300 Esslingen,
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`Examiination applicaation has been ssubmitted per PPatG [Patentgeesetz – Germann Patent Act] §§ 44
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`(57) TThe invention rrelates to a metthod and a devvice
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`for opperating poweer-actuated coomponents whhich
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`pose aa clamping hazzard to objectss or body partss of
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`peoplee, wherein aat
`least one
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`derivative off a
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`parammeter is determmined with resspect to the ppath
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`traveleed by the compponent, said paarameter havinng a
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`relatioon to the force
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`of actuation oof the compon
`ent.
`If at
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`least one threeshold value
`is exceeded,
`the
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`ment tion of movemoff or the directdevicee is switched o
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`is reveersed.
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`hazard e a clamping hents which poseuated componeing power-actuvice for operati(54) MMethod and dev
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`FEDEERAL PRINTING
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`OFFICE 06.91 1008 31/12
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`10/
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`50
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`DE 40 00 730 A 1
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`1
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`Webasto Roof Systems, Inc.
`Exhibit 1008
`
`

`

`
`
`1
`Description
`
`
`Prior art
`
`The invention relates to a method and device for
`operating power-actuated components which pose a
`clamping hazard to objects or body parts of people.
`A method for the electronic monitoring of opening and
`closing processes of electrically-operated window lift motors
`and sunroofs in vehicles is known from DE-PS 30 34 118.
`The path traveled by the moving component during the
`opening and closing process is divided into multiple regions.
`In a first and third region, the electric motor is switched off
`as soon as a time limit is reached when a blocking state
`arises, wherein the same is determined by a detection of the
`rotary speed of the drive. In a second region, measured
`values which are dependent on the rotary speed or on the
`speed of the moving component, or of the drive motor, are
`continuously determined during the closing process, and
`compared to a threshold value related to an initial measured
`value at start. If the threshold is exceeded, the drive direction
`of the electric motor is briefly reversed, and then the drive is
`switched off. The path traveled by the moving component is
`determined by integration of a rotary speed signal in a device
`which processes signals.
`The invention addresses the problem of providing a
`method and device for the operation of power-actuated
`components, to reliably detect the clamping of objects or
`persons by the component in all operating conditions, and to
`immediately initiate counter measures.
`
`
`
`DE 40 00 730 A1
`2
`path of travel, as long as the result of at least one derivative
`does not exceed the pre-specified threshold.
`The method and the device according to the invention
`are suitable for the operation of sliding doors and other
`stationary, power-actuated components which pose a
`clamping hazard to objects or body parts of people. [They
`are] particularly suitable for the operation of sliding
`sunroofs, window lift motors, door closing mechanisms, and
`seatbelt positioning devices
`in vehicles.
`[They are]
`particularly advantageous when used for power-actuated
`hand tool machines in assembly processes. [They are]
`further suitable for the operation of rolling shutters and
`access gates, and particularly parking spot placeholder
`devices.
`Implementations and improvements of the method and
`of the device according to the invention are found in the
`dependent claims.
`In cases where more
`than one
`derivative—for example
`the first and
`the second—is
`calculated, there is a simplification resulting from combining
`the results of the derivatives, and subsequently comparing
`[the combined results] to a threshold value. A combination
`of the results can be performed, by way of example, by
`addition, wherein the sum is compared to the threshold
`value.
`In one particularly advantageous implementation of the
`method and of the device according to the invention,
`multiple determinations are made of at least one derivative,
`with respect to different paths of travel. It is possible to
`make an adjustment by means of this measure for different
`objects or body parts of people, wherein the invention aims
`to prevent the clamping of the same. The differing density of
`objects or body parts leads to hard or correspondingly soft
`clamping processes which are revealed by different changes
`in the parameters with respect to the path of travel. A
`determination set for a hard clamping of at least one
`derivative would, for example, not recognize a soft
`clamping. Thus, in further development, the start of the
`clamping of various objects will be able to be identified as
`quickly as possible. In each case, calculating the first
`derivatives is already sufficient. It is possible here as well to
`increase the reliability of detection by determining higher
`derivatives—preferably the first and second derivative. The
`results of the multiple calculations of the derivatives running
`in parallel are each compared to a threshold value. If the first
`and/or higher derivatives are likewise determined, separate
`threshold values are provided for these results as well.
`In implementations of the method where different
`derivatives are determined, a combination of the first and/or
`higher derivatives is possible as well, along with a
`subsequent comparison to a single threshold value. As such,
`for the calculations running in parallel, only as many
`threshold values need be provided as calculations are carried
`out.
`In one practical embodiment, the threshold values are
`determined adaptively by means of clamping tests. With this
`measure, it is possible to pre-specify optimum threshold
`values of each individual component.
`A further improvement of the method and of the device
`according to the invention relates to a division of the entire
`path of travel of the component into multiple subregions,
`wherein a threshold value is assigned to each of the same.
`
`Advantages of the invention
`
`
`In the method and the device according to the invention,
`first a parameter is detected which has a relation to the
`actuating force of the component, and of the path traveled by
`the component. Next, at least one derivative of the profile of
`the parameter with respect to the path of travel is
`determined. The term ‘derivative’ means the determination
`of the differential quotient using analog calculations, and the
`determination of a difference quotient using digital
`calculation. If a threshold value is exceeded which is pre-
`specified for the result of the at least one derivative, this
`leads to the component being switched off and/or to the
`reversal of the direction of movement.
`The determination of the first derivative is enough to
`allow the recognition of a clamping occurrence with high
`reliability. The additional or alternative determination of
`higher derivatives, preferably at
`least of
`the second
`derivative, further increases the detection reliability, because
`changes influence the result more strongly than in the first
`derivative. If more than one derivative is determined, then
`each result is compared to its own threshold value, wherein
`the threshold values can be different. The component is
`switched off, or the direction of movement thereof is
`reversed, if at least one threshold value is exceeded. The
`method and the device according to the invention have the
`advantage that the speed of the actuated component need not
`be taken into account. The speed of the component can
`therefore change within wide boundaries over the complete
`
`2
`
`Webasto Roof Systems, Inc.
`Exhibit 1008
`
`

`

`
`DE 40 00 730 A1
`4
`3
`
`device 11 is given commands for the control of the motor 10
`subregions enables
`the
`into multiple
`The division
`via an operating device 14. In addition, the device 11 can
`incorporation of different dimensions of objects or body
`give signals to the operating device 14, and these are then
`parts of people.
`A signal filter during the detection of the profile of the
`displayed by the same, for example. As a further input
`variable, the operating voltage of the electric motor 10,
`parameter increases the reliability of the method and of the
`detected by a voltage meter 15, is fed to the device 11,
`device in the presence of mechanical influences on the
`component, such as shaking and the resulting high-frequency
`wherein, for example, the operating voltage can be detected
`from the motor driver circuit 12. The electric motor 10
`interference signal components, by way of example. High-
`frequency interference signals would have an effect in the
`drives a component which is not illustrated but which poses
`determination of higher derivatives, and potentially falsify
`the danger of clamping objects or body parts of people.
`Fig. 2 shows a functional correlation between the rotary
`the appearance of a clamping occurrence.
`The method according to the invention can be realized in
`speed n and the rotary torque M of a direct current motor.
`Three characteristic curves 16 are included which apply to
`a particularly simple manner if the rotary speed of the drive
`different operating voltages U of the electric motor 10.
`of the component is used as the parameter, and is detected by
`a sensor. The path traveled by the component can then be
`The methods and the device according to the invention
`calculated in a simple manner by means of integration of the
`for operating power-actuated components which pose a
`rotary speed signals.
`clamping hazard to objects or body parts of people is
`A further improvement of the method and the device
`described in greater detail using the block diagram shown in
`Fig. 1, and the functional relationship shown in Fig. 2:
`according to the invention is possible by pre-specifying a
`The electric motor 10 drives an actuated component
`minimum rotary speed, wherein the component is switched
`off or the direction of movement thereof is reversed if the
`which is not shown in the figure and which poses a clamping
`hazard. In place of the electric motor 10 shown in Fig 1, a
`rotary speed drops below
`this minimum speed. The
`additional monitoring of a minimum rotary speed also rules
`pneumatic or hydraulic drive can be included for the
`out [sic] the prevention of the clamping of objects or body
`component. The detection of a parameter which has a
`parts of people when the determination of at least one
`relationship to the force of actuation of the component is
`essential. The sensor 13 in Fig. 1 is included for this
`derivative is no longer possible because the rotary speed is
`too low to make it possible to detect a significant change.
`purpose, detecting for example the rotary speed n of the
`motor 10. In place of the motor rotary speed, another rotary
`A simple realization of the component is possible with
`an electric motor drive.
`speed can be detected—for example at a gearbox. At a given
`In one particularly advantageous implementation of the
`rotary speed n, a specific rotary torque M and therefore a
`method and of the device according to the invention, where
`force of actuation can be obtained using the characteristic
`curve in Fig. 2. The functional relationship shown in Fig. 2
`an electric motor drive is used, the detected rotary speed is
`corrected according to the operating voltage. A change in the
`also applies for a direct current electric motor, wherein the
`rotary speed can be caused both by a clamping and by a
`operating voltage U is incorporated as the parameter for the
`three different characteristic curves 16 included.
`change in the operating voltage, wherein it would not be
`possible to differentiate between both causes in a signal-
`At least one derivative with respect to the path traveled
`processing device without the corresponding correction of
`by the component is determined from the profile of the
`parameter in the signal-processing device 11. If the rotary
`the detected rotary speed according to the operating voltage,
`speed of the drive 10 is used as the parameter, the path
`with no other input. This correction is particularly simple
`when a direct current motor drive is used, because a change
`traveled can be obtained by an integration of the rotary speed
`in the operating voltage results in a parallel shift of the linear
`signal. At least one derivative is continuously determined
`rotary speed – rotary torque characteristic curve in the region
`during the operation of the component, and the result is
`of interest, where the increase in the rotary speed in the
`compared to a pre-specifiable threshold. If the threshold is
`working range being observed has a linear relationship to the
`exceeded, the device is switched off or the direction of
`movement of the drive 10 is reversed. The first derivative is
`change in the operating voltage. The correction value is then
`dependent on the measured voltage which is multiplied by a
`preferably determined. In addition or as an alternative,
`constant value.
`higher derivatives, and preferably at least the second
`Additional details and advantageous embodiments of the
`derivative, are determined. The incorporation of higher
`derivatives, optionally in addition to the first derivative,
`method and of the device according to the invention are
`increases the reliability of the detection of a clamping
`found in additional dependent claims in combination with
`occurrence, because changes in the profile of the parameter
`the following description.
`with respect to the path traveled are more evident at higher
`
`derivatives than in the first derivative.
`If the determination of multiple derivatives is included,
`multiple threshold values can be pre-specified, wherein once
`a single threshold value is exceeded, the device is switched
`off or the direction of movement is reversed. If multiple
`derivatives are calculated, a simplification of the evaluation
`method is achieved by combining the results of the
`derivatives and making a comparison. A combination is
`realized, by way of example, by an addition of the results of
`
`
`Fig. 1 shows a block diagram of a drive of a power-
`actuated component, and Fig. 2 shows a functional
`relationship between rotary speed and rotary torque of a
`direct current electric motor at different operating voltages.
`Fig. 1 shows an electric motor 10 which is controlled by
`a signal-processing device 11 via a motor driver circuit 12.
`A sensor 13 detects the rotary speed of the motor 10 and
`relays the same to the signal-processing device 11. The
`
`Figures
`
`3
`
`Webasto Roof Systems, Inc.
`Exhibit 1008
`
`

`

`
`DE 40 00 730 A1
`6
`5
`
`the individual derivatives, and a subsequent comparison of
`A further embodiment includes the division of the path
`the sums with a single threshold value.
`traveled by the component into multiple subregions, wherein
`includes multiple
`The embodiment advantageously
`different thresholds are assigned to each of these subregions.
`determinations of at least one derivative with respect to
`The further refinements of the method and of the device
`different paths traveled by the component, wherein the
`achieved in this manner produce advantages in the detecting
`results of the derivatives are each compared to a pre-
`of the start of the clamping occurrence, because it is possible
`specified threshold value. Using this measure, it is possible
`to accordingly react more quickly to different dimensions of
`to take varying density of a clamped object or body part of a
`body parts or objects. In addition, a very wide range of
`person into account. For example, if a comparatively strong
`change in force or change in speed of the actuated
`drop in the parameter is detected, then it can be assumed that
`component is possible [sic] with this measure, wherein
`the start of a clamping of a hard object has occurred. Then, a
`optimal thresholds can be determined for the different
`very fast reaction to the start of the clamping occurrence is
`regions.
`possible. When a clamping occurs of a softer object or body
`An optionally included signal filtering in the signal
`processing device 11 filters higher frequency interference
`part of a person, the change of the parameter has the same
`amount as that for a hard object only over a longer section of
`from the detected parameter, which can be created by
`the path traveled, with the consequence that the threshold
`mechanical activity influencing the component. If the device
`determined for the hard clamping occurrence would not be
`is installed in motor vehicles, such interferences are caused
`by a roadway with potholes, for example. As such, the
`reached. The calculation of at least one further derivative
`with respect to a further path, and the pre-specification of a
`possibility of a faulty detection, particularly produced in the
`separated threshold value in this case provides the solution.
`determination of higher derivatives, is reduced.
`As a result, it is also possible to switch off the device as
`A further increase in the operating reliability is produced
`quickly as possible when a softer object is clamped.
`by the pre-specification of a minimum rotary speed, wherein
`In the case of this evaluation as well, it is possible to
`the device is switched off or the direction of the movement
`determine both the first and also higher derivatives. Separate
`is reversed upon the minimum rotary speed being exceeded.
`threshold values are provided for the result of the first and/or
`By way of example, an extremely low rotary speed occurs
`each of the higher derivatives, wherein the device is
`with a stiffness in the drive of the component. A derivative
`switched off or the direction of the movement is reversed
`of a parameter with respect to the path is potentially no
`after a single threshold value is exceeded.
`longer possible without a modification, due to the low
`The pre-specification of different threshold values for
`change in the rotary speed. In addition, with this measure it
`different derivatives, as well as the pre-specification of a
`is possible to detect a blocking of the drive or of the
`different set of threshold values for each of multiple
`component at a point as early as the start of the movement
`determinations of the derivatives, running in parallel, with
`from the component resting position.
`respect to the different paths involves a large number of
`In one advantageous implementation of the method and
`thresholds which need to be pre-specified. For this reason, in
`of the device according to the invention, there is a correction
`one advantageous implementation, the results of different
`of the detected rotary speed of an electric motor or gearbox
`derivatives are combined into one single threshold. As such,
`according to the operating voltage. The detected rotary speed
`the number of the thresholds which must be pre-specified
`is increased or lowered by a rotary speed correction value,
`corresponds to the number of the multiple derivatives,
`which in turn is determined—for example in a memory
`device of the signal-processing device 11 for the operating
`running in parallel, with respect to the different paths. The
`combination can be realized, by way of example, by an
`voltages which are taken into account for the correction—
`addition of the results of the different derivatives.
`from the stored functional relationship between the rotary
`In general, higher derivatives are formed from the lower
`speed and the rotary torque, or from a value which is
`derivatives determined previously. In a further simplification
`proportional to the rotary torque which in turn depends on
`of the method according to the invention, higher derivatives
`the measured rotary speed and the measured operating
`are determined—if this determination is included—for the
`voltage at a given rotary torque. The rotary speed – rotary
`torque characteristic curve of the electric motor 10 needs to
`smallest path in each case for which a lower derivative was
`already determined. Then, with multiple determinations,
`be known, wherein the operating voltage thereof is pre-
`running in parallel, of derivatives with respect to different
`specified as a parameter. In the case of a direct current
`electric motor 10, therefore, the correction of the detected
`paths, it is possible to determine the higher derivatives in
`one calculation.
`rotary speed is possible in a particularly simple manner from
`In one advantageous embodiment, there is an adaptive
`the measured operating voltage which is compared to a
`threshold determination in the signal-processing device 11,
`constant determined from the functional relationship shown
`in Fig. 2. A change in the operating voltage leads to a
`wherein the one or the different thresholds are determined
`adaptively in the device 11 by using one or multiple test
`parallel shift of the linear rotary speed – rotary torque
`clamping processes.
`In
`this measure, manufacturing
`characteristic curve. In addition, the rotary speed has a linear
`tolerances in the power-actuated components, as well as
`dependence on the operating voltage at a fixed rotary torque.
`different geometric
`relationships
`for each
`individual
`At a given rotary torque, the determination of the constant is
`component, are
`incorporated by means of optimally
`possible with only
`two different rotary speeds. The
`determining the threshold value.
`functional relationship between the rotary torque M and the
`rotary speed n can be seen in the data sheet of the electric
`motor used. The rotary speed n can also be obtained with
`respect to an arbitrary intermediate stage inside the drive.
`
`4
`
`Webasto Roof Systems, Inc.
`Exhibit 1008
`
`

`

`
`
`Claims
`
`
`DE 40 00 730 A1
`8
`7
`If an electric motor is used as the drive 10, the functional
`5. A method according to one of the previous claims,
`relationship between rotary speed n and rotary torque M as
`wherein the higher derivatives are determined from the
`shown in Fig. 2 is the starting point for the determination of
`lower derivatives, which in turn are found with respect to
`the threshold value. The maximum allowable clamping force
`the smallest path.
`corresponds to a load torque on the motor, wherein a drop in
`6. A method according to one of the previous claims,
`rotary speed proceeds therefrom. As such, the clamping
`wherein the entire path of actuation of the power-
`force depends on the slope of the rotary speed – rotary
`actuated component is divided into multiple subregions,
`torque characteristic curve of the corresponding motor. The
`and different threshold values are assigned to said
`threshold values can be derived
`theoretically. An
`subregions.
`experimental threshold value determination is preferably
`7. A method according to one of the previous claims,
`included. The adaptive threshold determination described
`including
`a
`signal
`filtering
`for high-frequency
`above is particularly advantageous because the characteristic
`interference signals of the detected parameter, in a
`curve 16 may be subject to variation between individual
`signal-processing device (11).
`motors.
`8. A method according to one of the previous claims,
`This would lead to an unacceptable deviation of the
`including an adaptive threshold determination, wherein
`clamping forces. The adaptation is carried out on the final,
`the functional relationship between the parameter and the
`assembled component. Defined load torques are applied to
`force of actuation is determined experimentally by pre-
`the component, and the rotary speed of the motor is
`specifying at least two different clamping forces.
`9. A method according to one of the previous claims,
`determined therefrom.
`wherein the rotary speed of a drive (10) is detected as the
`is
`the characteristic curve
`The specific slope of
`parameter by at least one sensor (13), and is relayed to
`determined for this motor from various different measuring
`the signal-processing device (11).
`points. This measurement process can be carried out
`separately for each rotary device, for example, wherein the
`10. A method according to claim 8, wherein the path
`self-heating of the motor during the measurement process is
`traveled by the component is determined from the
`also taken into account. The threshold values and the
`integration of the rotary speed signal.
`constant are determined from the characteristic curves 16 as
`11. A method according to claim 8 or 9, wherein a
`part of the correction of the detected rotary speed according
`minimum rotary speed is pre-specified, below which the
`to the operating voltage.
`device is switched off or the direction of movement is
`A Hall effect transmitter is particularly suitable for the
`reversed.
`detection of the rotary speed of the drive 10, having
`12. A method according to one of the previous claims,
`having an electric motor drive (10).
`preferably two Hall elements. It is possible to make a
`determination of the direction of rotation with two elements.
`13. A method according to one of the claims 1 to 10,
`having a pneumatic or hydraulic drive (10).
`The Hall effect has proven particularly robust to interference
`and cost-effective in manufacture, particularly in rough
`14. A method according to claim 12, including a
`environmental conditions.
`correction of the detected rotary speed of the electric
`motor (10) in the signal-processing device (11), wherein
`
`the determined rotary speed (n) is increased or lowered
`by a rotary speed correction value, which in turn is
`determined from the functional relationship between the
`rotary speed (n) and the rotary torque (M), or a value
`which is proportional to the rotary torque (M), according
`to the measured rotary speed (n) and the measured
`operating voltage (U) at a given rotary torque (M).
`15. A method according to claim 12, including a
`correction of the detected rotary speed of a direct current
`electric motor (10), in the signal-processing device (11),
`wherein the determined rotary speed (n) is increased or
`lowered by a rotary speed correction value, which in turn
`is determined from the operating voltage (U), and is
`weighted with a constant which is determined from the
`functional relationship between the rotary speed (n) and
`the rotary torque (M), or a value which is proportional to
`the rotary torque (M), for at least two different operating
`voltages (U) and a given rotary torque (M).
`16. A method according to one of the claims 8 to 13,
`wherein at least one Hall effect sensor is included as the
`rotary speed sensor.
`17. A device for the operation of power-actuated
`components which pose a clamping hazard to objects or
`body parts of people, having the features:
`- detection of a parameter which has a relation to
`the force of actuation;
`
`
`1. A method for the operation of power-actuated
`components which pose a clamping hazard to objects or
`body parts of people, having the features:
`- detection of a parameter which has a relation to the
`force of actuation;
`- detection of the path traveled by the component;
`- determination of at least one derivative of the
`profile of the parameter with respect to the path;
`- comparison of the result of the derivation to a
`threshold value;
`- switching off the device or reversing the direction
`of movement when the threshold value is exceeded.
`2. A method according to claim 1, wherein the results of
`the first and/or higher derivations are combined and
`compared to a threshold value.
`3. A method according to claim 1, wherein multiple
`derivatives are determined with respect to different paths
`traveled, and the results are each compared to a threshold
`value.
`4. A method according to claim 3, wherein the results of
`the first and/or higher derivatives are combined in each
`case, and each of the results is compared to a threshold
`value.
`
`5
`
`Webasto Roof Systems, Inc.
`Exhibit 1008
`
`

`

`10
`
`
`
`
`DE 40 00 730 A1
`9
`- detection of the path traveled by the component;
`- determination of at least one derivative of the
`profile of the parameter with respect to the path;
`- comparison of the result of the derivation to a
`threshold value;
`- switching off the device or reversing the
`direction of movement when the threshold value is
`exceeded.
`18. A device according to claim 17, including the
`determination of multiple derivatives with respect to
`different paths traveled, and including a comparison of
`each of the results with a threshold value.
`19. A device according to claim 17 or 18, wherein the
`entire actuation path of the power-actuated component is
`divided into multiple subregions, and different threshold
`values are assigned to said subregions.
`20. A device according to one of the claims 17 to 19,
`including an adaptive threshold determination, wherein
`the functional relationship between the parameter and the
`force of actuation is determined experimentally by pre-
`specifying at least two different clamping forces.
`21. A device according to one of the claims 17 to 20,
`wherein the rotary speed of a drive 10 is detected as the
`parameter by at least one sensor (13), and is relayed to
`the signal-processing device (11).
`22. A device according to one of the claims 17 to 21,
`having an electric motor drive (10).
`23. A device according to one of the claims 17 to 22,
`including a correction of the detected rotary speed of a
`direct current electric motor (10),
`in
`the signal-
`processing device (11), wherein the determined rotary
`speed (n) is increased or lowered by a rotary speed
`correction value, which in turn is determined from the
`operating voltage (U), and is weighted with a constant
`which is determined from the functional relationship
`between the rotary speed (n) and the rotary torque (M),
`or a value which is proportional to the rotary torque (M),
`for at least two different operating voltages (U) and a
`given rotary torque (M).
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`1 page(s) of drawings
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`6
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`Webasto Roof Systems, Inc.
`Exhibit 1008
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`7
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`Webasto Roof Systems, Inc.
`Exhibit 1008
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`DRAWINGS PAGE 1
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`Number:
`Int. Cl.5:
`Publication date:
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`DE 40 00 730 A1
`F 16 P 3/12
`August 1, 1991
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`8
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`Webasto Roof Systems, Inc.
`Exhibit 1008
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