Living things have the ability to adapt themselves to various environmental conditions and keep the whole system functioning even if a part of it is out of order. Recently, biological systems of living things which can be modeled as autonomous distributed systems have become the focus of attention. In this paper the modeling of the rhythmic movement generating mechanism of dragonfly wings using nonlinear oscillators is described. A wing is approximately modeled as a 1-DOF or 2-DOF beam and the equations of motion are derived. The central pattern generators(CPG)which generate the rhythmic movement of wings are modeled as a set of Van der Pol nonlinear oscillators. By solving the equations of motion of the wing and the equations of oscillators simultaneously, the rhythmic movement of a dragonfly wing model is obtained. The synchronization of multiple wings is obtained by the interconnection of oscillators. It is found that various autonomous vibrations of dragonfly wings can be reproduced using this model.

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A simplified analytical method is proposed to obtain eigenfrequencies and modes of a rocket with an asymmetric configuration. This method is an extension of the symmetric beam element matrix method and utilizes asymmetric beam elements. The purpose of this simplified analysis using a FORTRAN 77 program is to prepare an analytical tool for the preliminary design phase and a rough-check tool for detailed analysis. This program has three functions : (1)to generate stiffness and mass matrices for the asymmetric beam element using Timoshenko-type beam theory, (2)to calculate the dynamical matrix from which rigid body degrees of freedom are eliminated, and(3)to calculate eigenvalues and eigenvectors. A sample analysis of the structural vibrations in a hypothetical rocket with an asymmetric configuration is conducted to demonstrate the capability of this simplified method. The results obtained agree well with those obtained by MSC / NASTRAN analysis, and this proposed method greatly simplifies the preparation of a model. Based on these findings, the proposed method is judged to be an efficient tool for the analysis of structural vibrations in an asymmetric rocket.

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The flow of granular materials on the vibratory conveyor is studied both experimentally and analytically. The vibratory conveyor consists essentially of a nearhorizontal conveying vessel, which is undergoing translational harmonic vibrations in a direction to the horizontal. The motion of individual particles contacting each other is solved by the discrete element method proposed by Cundall. The normal component of the contact force acting on a particle is firstly given by the sum of the forces due to the spring and the dashpot. Then, the tangential component of the contact force applies the Coulomb law of friction. It is shown that the mean velocity of transport of granular materials depends on the frequency and amplitude of the vibratory input as well as various physical parameters. Also, the numerically observed flow properties agree quantitatively with experimental results.

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This paper deals with vibrations of a preloaded compliance system as an example of vibrations of nonlinear systems with discontinuities. The resonance curves of harmonic, higher harmonic and subharmonic vibrations are obtained by using the direct numerical integral method presented previously, which is a highly accurate shooting method. Chaos is generated in the system treated here. Influences of amplitude and frequency of external force and damping ratio on the resonance curves and the stability of solutions are discussed. It is found that if a trajectory enters a discontinuous point, a bifurcation is realized. A stable periodic solution becomes unstable due to this bifurcation and chaos may suddenly occur at the halfway point of the period-doubling route. This route to chaos is same as the one found in the forced self-excited vibration system with dry friction.

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Internal resonance of thin rectangular laminated plates with degenerate modes is investigated using the method of multiple scales. The plates are assumed to be simply supported along all edges, and both movable and immovable edge conditions are considered. In order to use the method of multiple scales properly, the definition of the detuning parameter σ, which expresses the relationship between the linear natural frequency ω and the driving frequency Ω, is changed from Ω=ω+εσ to Ω²=ω²+εσ. The influence of the lamination sequence and the edge conditions on two-mode responses of the plates is shown. The accuracy of the analytical results is confirmed by comparing them with results of numerical integration of the equation of motion. Furthermore, it is shown that the two-mode responses that lose stability via a Hopf bifurcation lead to chaotic motion.

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In this paper, a method to solve a complex nonlinear vibration system is proposed by using both component mode synthesis method and perturbation method to save computation cost. That is, the system is divided into some components and these are approximately transformed to modal coordinate system with nonlinearity under the assumption that the modes shape does not change, then equations of every modes are solved by using a perturbation method. These solutions are synthesized to the whole system and the solution for the whole system is obtained for the modal coordinate system. Finally, it is translated to the physical coordinate system. This method is applied to a vibration analysis of nonlinear rotor and bearing-casing system. In order to illustrate the accuracy and computation time of the proposed method, the results obtained are compared with those obtained by the finite element method.

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A V-type 6-cylinder engine in a special compact design was developed several years ago by Volkswagen. The bank angle was a 15 degrees narrow angle(cylinders are offset). This engine is located between the straight(single cylinder head, small width and good balancing of the oscillating inertia forces)and V-type(short design)engines and combines both the advantages. This is called a VR-type engine. In this study, the conditions that can change a straight engine into a VR-type design without a cylinder offset as well as the exciting moment which occurs in the VR-type engine are analyzed. Finally, in the case of engines with a set number of cylinders, it examines the feasibility and the limit bank angle of a VR-type design.

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Singular value robustness tests can be used to analyze real parameter variations, but it is difficult to calculate the structured singular value(μ-norm)of a transfer matrix with real uncertainty. Thus far, the MATLAB(Matrix Laboratory)with μ-tools toolbox software package is the most widely used method for numerical computation of structured singular values. However, it can only obtain the lower and upper bounds of the μ-norm. We present a method developed from interval analysis which can compute the true value of the μ-norm in numerical computation.

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In this paper, the adaptive robust output tracking problem for a class of nonlinear systems which have both mismatched uncertainties and matched uncertainties has been addressed. The nominal system is input-output linearizable. Based on the input-output linearization technique and Lyapunov approach, an adaptive control law is developed to track the bounds on the plant uncertainties so that no prior knowledge of the bounds is required. it is shown that the output of the closed-loop systems ultimately track the desired output with a bounded tracking error despite the system uncertainties. An example is performed to illustrate the effectiveness of the proposed control scheme.

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An optimum design problem of structures, considering control performance, is presented. We assume that a structure is subjected to initial loads and time-varying disturbances and is controlled by an H_∞ controller to suppress the effect of disturbances. The purpose of the design is minimization of an objective function that represents the effect of the initial loads under a constraint imposed on the weight of the structure. We have already reported a solution to this problem using a state feedback H_∞ controller. However, the state is not always measurable in real structures. For this reason, we adopt an output feedback H_∞ controller. Deterministic initial loads and statistically known initial loads are considered, and the objective function for the control system is proposed in the case that the initial loads are known statistically. A numerical example of the structure of a 3-D truss is presented.

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Previous papers proposed a fuzzy applied observer(FAO)as a solution to the nonlinear estimation problem with unmeasurable input. This paper deals with a steam-temperature control(STC)of a once-through boiler using FAO. The STC consists of a final superheater(FSH), a spray attemperator at the FSH inlet, the FAO and two compensators. One object of compensation is delay in the dynamic behavior of steam temperature and the other is the effect of imbalance between disturbances in heat absorption and steam flow. The former is compensated for by state variable feedback and the latter is compensated for using fuzzy control to deviations in the temperature and the ratio of these two disturbances. Simulations are performed to confirm the control. The results show better control performance due to the suitable fuzzy applied observer compared to the uncompensated case.

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Initial leveling of strapdown inertial navigation system is essential in the distinguishing of gravity and acceleration effects, and in achieving accuracy. This paper proposes the application of a modified Kalman filter with and innovative recursive input estimator to a class of leveling problems, that are subject to abrupt environmental disturbances. The disturbance input is assumed to be arbitrary in starting time and of long duration and deterministic nature, such as the swelling of the sea for a seafaring vehicle. A hypothetical testing scheme is devised to detect the onset and presence of the disturbance input. The dynamic system has four states with color noise. The simulation results have demonstrated that the speed of convergence and accuracy are much improved as comparing to the original unmodified one.

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In this paper, we present an iterative algorithm that can be used to recover shape from shading for non-Lambertian surfaces using single incident light. In the method, the parameters determining the general reflectance map are identified using occluding boundary information. The normal of the object surface is estimated subsequently, and the 3-D shape is recovered. The experimental results show the effectiveness of our method for shape from shading.

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We have developed an original jerk sensor that uses the derivative of acceleration(also called jerk)as its control input. And we evaluated the characteristics of a vibration-control system which applies this jerk sensor for direct jerk-feedback control. As a control model, we used a one-degree-of-freedom servo system. Analytical and experimental approaches were compared and we clarified that the jerk sensor operated correctly. That is, the gain increased by 20dB per decade and the phase of jerk lead that of acceleration by 90 degrees(as it theoretically must). And the analytical calculations for step response agreed well with the experimental results. Moreover, the possibility of improving the speed of response by using direct jerk-feedback control was confirmed.

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A diesel particulate filter system is very effective for reducing the amount of particulate matter in the exhaust emission of diesel engines. This system catches particulate matter in its filter and therefore, with time, the filter will be fully loaded such that it cannot be used. The filter must then be regenerated by burning the accumulated particulate matter. To effectively control the filter regeneration, an accurate and reliable estimation of particulate accumulation is required. However, due to unknown factors in filter dynamics and operating conditions, it is not easy to estimate particulate accumulation analytically. A map of particulate accumulation, can actually be constructed by conventional methods, nevertheless it requires such a large amount of data that it is very difficult to apply. To overcome this problem, it is proposed, in this work, to employ a feedforward neural network which is widely known for its capability to model nonlinear systems. The experimental results show that particulate accumulation can be estimated with the desired precision for a wide range of operating conditions. This subsequently makes regeneration control flexible enough that the system can easily be used.

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Four analytical models of a series-line resonator, a distributed parameter model(Model A), two types of combined parameter models and a lumped parameter model(Model D), are introduced. Their resonance frequencies are represented by three variables ζ, η and f_n1, where ζ and η are the length and cross section ratios of the body to the neck and f_n1 is the fundamental resonance frequency of the neck with a closed end. These frequencies are also evaluated experimentally. It is shown that Model A is best, and the available range of other models can be represented by ζ and η. For the pressure signal generator, the variable resonance frequency resonators are designed using Model A, and their resonance frequencies are evaluated. The agreement between the analytical and experimental results is good. Errors in the acoustic resonance volumeter are also considered. Model D, as modified by Model A, is most suitable for solid volume measurements.

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This paper discusses the design and experimental verification of a new digital control method for suppressing disturbances in the positioning control system of a CD-ROM drive. The positioning control has generally been carried out by applying a conventional compensator, e.g. a phase lag-lead compensator, and implemented as digital control using the digital signal processor(DSP). We apply a disturbance observer to obtain satisfactory disturbance suppression as the disc rotation speed becomes higher. However, extra processing for calculating the disturbance observer is required. Therefore, we propose a multirate sampling scheme to decrease the realtime computation burden on DSP. The disturbance observer is computed with a lower sampling rate than the conventional compensator. The experimental results show that the positioning control system using the proposed multirate sampling scheme can reduce the positioning error caused by disturbances like disc vibration.

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In this study we are comparing the efficiency of several multibody dynamic analysis algorithms ; the recursive, the conventional velocity transformation, and the modified velocity transformation algorithms, which are relevant to the real-time simulation of mechanical multibody systems. For that purpose each algorithm is summarized and the number of computations required to proceed each step of the algorithm is calculated. The modified velocity transformation algorithm is turned out to be an O(N³)algorithm for serial structure open-chain systems and an O(N)algorithm for parallel structure open-chain systems. Thus the algorithm becomes most efficient among three algorithms for all cases of parallel structure systems and the serial structure systems with N<16. The excellence of the algorithm is maintained even for the treelike structure open-chain systems with N316 if the systems are parallel enough.

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The effects of the several factors, namely, the friction coefficient between the golf ball and club head, the eccentric hitting, the inclination of the head and the shape of surface, on the release velocity, the spin velocity and the distance and direction of the flying ball after impact, are investigated. A computer program that analyzes the dynamic contact problem with friction is developed and the impact phenomenon between the head and ball is numerically analyzed using this program. The effects of the factors described above are investigated quantitatively. it is shown that back spin is the result of friction between the head and ball, and side spin is the result of eccentric hitting or inclination of the head, which is called the gear action. In addition, it is shown that the shape of surface influences the trajectory of the ball after impact, which is called the round effect.

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Space debris collision is one of the most serious problem in space systems operations, and, in particular, sufficient warning is necessary for making a decision as to whether a repair will be needed to continue the mission. For this purpose, this paper presents a procedure based on an inverse analysis to estimate the force and location of an impact exerted on a spacecraft using the arrival time differences between acceleration waveforms measured at more than three places on a structure. Simulation results are shown based on the analytical solutions of the structure vibration model with acceleration data corrupted by white noise.

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The main purpose of the ABS(Anti-lock Baking System)of a personal car is to keep the greatest adhesion between the tires and the road surface to shorten the braking distance and secure the controlling and stability of the vehicle. This research is to design an ABS controller, which has the following functions : slip prediction, detection of road surface state, scanning of the optimal slip and neuro-fuzzy controller, and to discuss the braking performance of the ABS under the influences of different road surface states.

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The present research concerns a compensation method for dynamic measurement error(DME)using the laser beacon measurement system(LBMS), which is necessary for highly accurate positioning control and trajectory tracking control of a wheeled mobile robot(WMR). The LBMS uses particular laser beacons, each of which emits two symmetrical laser beams traveling in opposite directions around the beacon and is placed at two reference positions. Receiving beams from these beacons, a photo sensor incorporated in the sensor unit of a WMR yields four time intervals that are necessary to calculate the position of the WMR. From four time intervals, the position of a standing WMR can be measured with high accuracy by LBMS. However, using this method, the position of a moving WMR can't be measured as accurately, because the above-mentioned four time intervals change slightly owing to motion of the WMR, and DME arises consequently. The proposed method compensates the position of a moving WMR measured by LBMS, making use of the DME calculated from four different time intervals. In this paper, we report on this compensation method which has been found to yield satisfactory results in terms of accuracy and repeatability after various simulations and experiments.

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The aim of the present study is to improve the dynamic behavior of an adaptive truss by considering the redundant kinematical degrees of freedom(DOFs). It is assumed that the truss follows the prescribed path in its workspace. The motion planning problem with respect to vibration is formulated in a discrete form with a criterion function based on the strain energy of the adaptive truss. It is also shown that the proposed approach is applicable to a real model of the adaptive truss which takes into account the nodal offset, as well as an ideal model which is based on the ideal truss node assumption. Simulation studies are carried out for both ideal and real models of the adaptive truss. The effectiveness of the proposed approach on the vibration reduction is demonstrated.

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An optical actuator consisting of PLZT elements is a new type of actuator that makes active use of energy and information of light, and is inherently robust to electromagnetic noise. PLZT is an element that produces mechanical strain by the photostrictive effect when irradiated by ultraviolet light. Since displacement of the element is very small, we adopt a bimorph structure for the optical actuator to increase the displacement. In this paper, we propose an effective position control method for the bimorph-type optical actuator ; its validity is confirmed by experiments. A simple on-off control is insufficient to control the optical actuator because the mechanical shutters controlling light irradiation have a large time lag. A new control method, taking into account the dynamic responses of the optical actuator and the shutters, is introduced into the system, and improves the precision and response speed of the optical actuator.

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The mechanical behavior of RCC(Remote-Center-Compliance)devices using elastomer shear pads depends on the number of their elastomer-metal layers, the thickness and radius of the elastomer-metal, and the axial and lateral stiffness of the elastomer. These parameters must be considered in a complete analysis for the design of the RCC devices. This paper presents a useful method for analyzing the behavior of RCC devices using elastomer shear pads based on the material mechanics approach. This makes it easy to design new RCCs for specific purposes. We also developed a projection / stiffness variable type RCC(VRCC), and verified that the VRCC duplicates the performance of a wide range of commercial fixed-type RCCs. Simulation and experimental results are also presented.

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This paper is concerned with the application of gain-scheduling H_∞ technique to the vibration control of SCARA type robot manipulators. The dynamics of multi-link robot manipulators, such as the SCARA type robot manipulators, are of highly nonlinear time-varying property, and this fact makes it difficult for a single linear time-invariant controller to achieve the desired performance. The gain-scheduling H_∞ technique is an extension of standard H_∞ synthesis technique to the case that a plant depends affinely on a time-varying parameter vector δ(t). The vibration controller designed via this technique is automatically gain-scheduled according to the position of the links of the manipulators and makes the dynamics of the closed-loop system unchanged along the input trajectory. The effectiveness of the proposed controller is demonstrated by simulation.

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The study of materials which can become deformed by light radiation has favoured the development of new types of interfaces and actuators. Indeed, by exposing materials made up of lead(chemical symbol Pb), lathanum(La), zirconium(Zr), titanium(Ti), known, from chemical symbols, like PLZT materials, to ultraviolet radiation, one can obtain deformations whereby these materials can be bent or elongated. These materials can therefore be used, for example, as microactuators for the opening and closing of pneumatic nozzles at the pneumatic valve pilot stage. In this study, the design and construction of a mechanical microactuator activated by a PLZT lamina are presented. This actuator amplifies the movement induced in the PLZT via an ultraviolet lamp, hence making it easier to use. The prototype has been studied using theoretical and experimental methods.

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The authors have conducted research into a vision sensor system which is functionally similar to the human eye. We have designed and manufactured a special lens to realize this function. The lens system provides an extensive 120-degree visual field, by optically enlarging an input image in the central area and compressing it in the peripheral area. In this paper, the authors propose a new method to detect a camera location and gaze direction based on two parallel boundary lines of a road projected in the peripheral area, and show that it works precisely and efficiently. Subsequently, we apply this method to a curved road and compare the location detected from the boundary lines with the actual camera location, and show that there is reasonable agreement between the detected and actual values.

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A new synthesis method for tooth profiles using vector equations is proposed to precisely derive the curve of tooth profile of conical-external and -internal gears which engage a cylindrical-involute gear over the entire tooth width. As an example, the ideal tooth profiles of conical-external and -internal gears which engage with an inclined cylindrical-involute gear over the entire tooth width have been derived, and their characteristics with repect to a plane perpendicular to the axis of the inclined cylindrical gear have been investigated. The results obtained are as follows. (1)The tooth profiles of conical-external and -internal gears favorably coincide with plane involute curves. (2)The radius of the base circle is given by using the equivalent tooth number of the conical-external or -internal gear. (3)The profile-shift coefficient is given by the center-to-center distance between the inclined involute gear and the conical-external gear, or between the cylindrical gear and the conical-internal gear. (4)The profile-shift coefficient of conical-external or -internal gear changes nonlinearly along the axis of the cylindrical-involute gear.

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In this study, an intelligent 3D surface-data extraction system which integrates a Laser Displacement Meter(LDM), a CNC Machining Center(CNC), and a Personal Computer(PC)-486 is developed. In this intelligent system, LDM, CNC, and PC play the roles of distance-measuring sensor, measurement-frame, and main control device, respectively. By enforcing the Direct Numerical Control(DNC)technique, the CNC can be controlled to carry the LDM to measure specified objects or parts automatically. In addition to the effective measurement of thin and complex objects, a new process which combines the contacting and noncontacting methods is established to handle those objects with larger height differences. Furthermore, the Medium Filter technique is applied to filter out the impulse like measuring noise which always occurs in the sharp edges between surfaces. Moreover, a new algorithm is also proposed to efficiently eliminate redundant measured data points. This algorithm enables the users to minimize computing time and reduce memory space during surface reconstruction. Experimental results show that the Medium Filter can successfully wipe out impulse like noise and the proposed redundant data eliminating algorithm can significantly reduce the redundant measured 3D surface data without losing the characteristics of the target surface.

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Loose abrasives that are attracted to an electrode surface by means of an electrophoretic phenomenon should be fixed on the electrode surface to increase the polishing efficiency. An anodic film that grows continuously under the process of anodization of an aluminum alloy was employed as a binder of ultrafine silica abrasives. The effects of grain density, grain size, pH and chlorine ion density in the polishing fluid on the generation of the anodic film and the polishing efficiency were examined through the polishing test conducted on a partially stabilized zirconia ceramic. It was revealed that the porous anodic film that was generated where the growth velocity of the anodic film was balanced with the erosion velocity of the barrier film, could be used as the binder of loose abrasives. It was also confirmed that swarf loading decreased with an increase in pore size of the anodic film so that the polishing efficiency increased with increasing pore size of the anodic film.

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In this paper, we propose a quantitative evaluation method for seat and door arrangements in commuter railway cars from the viewpoint of passenger comfort and accessibility. Passenger comfort is defined based on passenger's behavior in selecting a seat, with the assumption that every passenger selects the most comfortable seat from those available. The behavior is modeled by a numerical function. The unknown parameters in the evaluation function are determined by experiments using a full-scale mockup with variable seat and door arrangements. The results of the proposed evaluation functions using computer simulations agreed with experimental results. It was found that the seat arrangement depends on the average passenger traveling time. From the evaluated results, the best seat arrangement for commuter trains is discussed and new seat arrangements are proposed.

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An experimental study of precision cutting of molding dies using single crystal diamond cutting tools for large Fresnel screens(size : T3×921×714mm³, Fresnel angle : 0.004-55.0°), for improving the optical characteristics of the screens is described. The conclusions are as follows : (1)A burr is generated at the shoulder of the grooves during cutting, which causes compressed chip material to accumulate and laterally compress both sidewalls of the grooves ; (2)the burr generation is suppressed by increase of the rake angle of the diamond cutters, decrease of the down feed rate, and reduction of stock removal ; (3)generation of a color corn on the Fresnel screen is caused by light escaping through non-lens surfaces ; this is avoided by making the non-lens surfaces semi-transparent where the surface roughness is around 1μm R_max. Using the above-mentioned information to improve the cutting process, desirable optical characteristics were achieved for Fresnel screens used in projection TVs.

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A machine assembly / disassembly planning system based on agent cooperation has been developed. It can create an optimal assembly and / or disassembly sequence for any goal, such as disassembling / assembling all parts or replacing a broken-down part. The planning system is reactive, i.e., it can cope with unpredictable incidents, such as changing goals while the system is under operation. We define twenty six class agents for machine assembly / disassembly tasks and use an improved algorithm whose original one was proposed by Maes. The framework of the proposed planning system and detail definition of the planning algorithm are introduced and the results of experiments are discussed.

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This research aims to propose a new approach to modelling solid shapes, called qualitative solid modelling, for supporting conceptual mechanical design. In a previous paper, a method has been described to represent qualitatively the simplified shapes of solids whose surfaces are all planes and perpendicular to the axes of the given orthogonal coordinate system. A qualitative solid model is defined as a domain network that has domains(cuboids)as its nodes and qualitative spatial relations among the domains as its links. This paper details a number of qualitative solid operations, ranging from the most basic declarations of domains and domain relations to qualitative set operations of domains, that can be combined to facilitate tasks of modelling complex qualitative solid shapes in computers. All operations mentioned in this paper have been implemented in a qualitative solid modelling system, called QuaSMos. The validity and efficiency of several important qualitative solid operations and the qualitative solid modeller QuaSMoS are confirmed with an example of complex solid shapes.

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In order to reduce the aerodynamic noise of a lathe chuck, the air flow around the three-jaw scroll chuck is observed by means of the tuft and smoke wire methods. Flow visualizations are carried out for various cases, e.g., those without a workpiece, those with cylindrical- and flange-shaped workpieces, when the chuck rotating speeds are 1 000, 2 000 and 3 000 rpm. The investigation shows that the air flow around the chuck consists of four leading flows, i.e., axial flow from the tailstock to the headstock, entrained flow within the area encircled by top jaws, flow from the front to radial areas of the chuck and flow corresponding to the velocity boundary layer caused by the rotating chuck.

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We propose a new type of real genetic algorithms(GAs)named adaptive real range(ARRange)GAs. In conventional real GAs, we simply set a minimum and a maximum value for each design variable and divide the range into specific divisions after decoding binary strings to integers. However, in such cases, we need to give so many number of bits and divide the given range into a great number of discrete values in order to achieve sufficient accuracy. Moreover, initially, we usually do not have any information on the minimum and maximum values. Thus, we have to set them while ignoring the accuracy of the real values. In the proposed method, a range of real numbers will move adaptively in each generation by using the mean value and the standard deviation of the previous generation. In ARRange GAs, we do not have to consider the settings of minimum and maximum real values or number of bits for accuracy of real values. However, in ARRange GAs, we need four additional GA parameters that influence the performance of GAs. In particular, two of these parameters greatly influence the convergence. We also present additional options that relieves the designer from having to perform presettings. In this study, we demonstrate the proposed method by simple numerical examples and demonstrate its effectiveness and characteristics.

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A new mechanical optical switch with a latching function was fabricated on a planar lightwave circuits(PLCs)by combining three technologies : integrated optics, micromachining on silicon or silica, and surface mounted actuators. The switching function is obtained by mechanical deflection of silica cantilevers driven by electro-magnetic force. A prototype switch was made and its performance was measured experimentally. The insertion loss was 4.4 dB, cross-talk was -40 dB, and switching time was 40 ms for a driving voltage of 7 V and a current of 350 mA.

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