Uncertainty of Efficiency Measurements in Electric Drives

The two central goals of this master's thesis are to serve as a guidebook on the determination of uncertainty in efficiency measurements and to investigate sources of uncertainty in efficiency measurements in the field of electric drives by a literature review, mathematical modeling and experimental means. The influence of individual sources of uncertainty on the total instrumental uncertainty is investigated with the help of mathematical models derived for a balance and a direct air cooled calorimeter. The losses of a frequency converter and an induction motor are measured with the input-output method and a balance calorimeter at 50 and 100 % loads. A software linking features of Matlab and Excel is created to process measurement data, calculate uncertainties and to calculate and visualize results. The uncertainties are combined with both the worst case and the realistic perturbation method and distributions of uncertainty by source are shown based on experimental results. A comparison of the calculated uncertainties suggests that the balance calorimeter determines losses more accurately than the input-output method with a relative RPM uncertainty of 1.46 % compared to 3.78 - 12.74 % respectively with 95 % level of confidence at the 93 % induction motor efficiency or higher. As some principles in uncertainty analysis are open to interpretation the views and decisions of the analyst can have noticeable influence on the uncertainty in the measurement result.

Suorituskyvyn johtamisen ja mittaamisen kehittäminen suuren yrityksen tutkimus- ja tuotekehitystoiminnassa

Tässä tutkimuksessa selvitettiin, miten suorituskyvyn johtamista ja mittaamista käytännössä toteutettiin suuressa tutkimus- ja tuotekehitystoimintaa Suomessa harjoittavassa elintarvikealan yrityksessä. Tutkimuksessa kartoitettiin tärkeimpiä suorituskykyyn vaikuttavia tekijöitä suorituskyvyn johtamisen ja mittaamisen näkökulmasta. Tutkimuksen tavoitteena oli saada kooste suosituksista tutkimus- ja tuotekehitystoiminnan suorituskyvyn johtamisen ja mittaamisen kehittämiseksi. Tutkimuksen laajuus rajattiin neljään case-yritykseen. Tutkimuksessa tehtiin empiirinen puolistrukturoitu kyselytutkimus, strukturoidut haastattelut sekä tulosten arviointi. Tutkimusote oli lähinnä toiminta-analyyttinen, koska tutkimuksessa käsiteltiin organisaation toimintaa, johtamista, ongelmanratkaisua, päätöksentekoprosesseja sekä kehitys- ja muutosprosesseja. Tutkimustulosten perusteella suorituskyvyn johtamista ja mittaamista case-yrityksissä toteutettiin BSC:n yleisten näkökulmien mukaisesti. Tutkimus- ja tuotekehitystoiminnan mittauksen tavoitteet poikkesivat toisistaan niiden toiminnan luonteesta johtuen. Tutkimustoiminnassa suorituskyvyn mittauksen tavoitteet painottuivat lähinnä innovatiivisuuteen, oppimiseen ja motivointiin. Tuotekehitystoiminnassa mittauksen tavoitteet olivat enemmän diagnostisia. Tuotekehitystoiminnassa tavoitteena olivat projektien seurantaan, toiminnan tulostenarviointiin, talouteen sekä koordinaatioon ja kommunikointiin liittyvät tekijät. Tutkimustulosten perusteella puutteita havaittiin suorituskyvyn viestinnän riittävyydessä ja vaikuttavuudessa, mittaustiedon hyödynnettävyydessä, aineettoman pääoman mittauksessa, projektien arviointikriteerien viestinnässä, prosessien selkeydessä ja toimivuudessa, projektiosaamisessa, suorituskyvyn mittauksessa, vaikutusmahdollisuuksissa, johtamisessa ja esimiestyössä.

Auf Basis umfangreicher Messdatensätze experimentell und numerisch validierte Regeln zur optimierten Auslegung von Luft-Erdwärmetauschern

Ein Luft-Erdwärmetauscher (L-EWT) kommt wegen seines niedrigen Energiebedarfs und möglicher guter Aufwandszahlen als umweltfreundliche Versorgungskomponente für Gebäude in Betracht. Dabei ist besonders vorteilhaft, dass ein L-EWT die Umgebungsluft je nach Jahreszeit vorwärmen oder auch kühlen kann. Dem zufolge sind L-EWT zur Energieeinsparung nicht nur für den Wohnhausbau interessant, sondern auch dort, wo immer noch große Mengen an fossiler Energie für die Raumkühlung benötigt werden, im Büro- und Produktionsgebäudesektor. Der Einsatzbereich eines L-EWT liegt zwischen Volumenströmen von 100 m3/h und mehreren 100.000 m3/h. Aus dieser Bandbreite und den instationären Randbedingungen entstehen erhebliche Schwierigkeiten, allgemeingültige Aussagen über das zu erwartende thermische Systemverhalten aus der Vielzahl möglicher Konstruktionsvarianten zu treffen. Hauptziel dieser Arbeit ist es, auf Basis umfangreicher, mehrjähriger Messungen an einer eigens konzipierten Testanlage und eines speziell angepassten numerischen Rechenmodells, Kennzahlen zu entwickeln, die es ermöglichen, die Betriebseigenschaften eines L-EWT im Planungsalltag zu bestimmen und ein technisch, ökologisch wie ökonomisch effizientes System zu identifizieren. Es werden die Kennzahlen elewt (Aufwandszahl), QV (Netto-Volumenleistung), ME (Meterertrag), sowie die Kombination aus v (Strömungsgeschwindigkeit) und VL (Metervolumenstrom) definiert, die zu wichtigen Informationen führen, mit denen die Qualität von Systemvarianten in der Planungsphase bewertet werden können. Weiterführende Erkenntnisse über die genauere Abschätzung von Bodenkennwerten werden dargestellt. Die hygienische Situation der durch den L-EWT transportierten Luft wird für die warme Jahreszeit, aufgrund auftretender Tauwasserbildung, beschrieben. Aus diesem Grund werden alle relevanten lufthygienischen Parameter in mehreren aufwendigen Messkampagnen erfasst und auf pathogene Wirkungen überprüft. Es wird über Sensitivitätsanalysen gezeigt, welche Fehler bei Annahme falscher Randbedingungen eintreten. Weiterhin werden in dieser Arbeit wesentliche, grundsätzliche Erkenntnisse aufbereitet, die sich aus der Betriebsbeobachtung und der Auswertung der umfangreich vorliegenden Messdaten mehrerer Anlagen ergeben haben und für die praktische Umsetzung und die Betriebsführung bedeutend sind. Hinweise zu Materialeigenschaften und zur Systemwirtschaftlichkeit sind detailliert aufgeführt.

Modelling of global crop production and resulting N2O emissions

Landwirtschaft spielt eine zentrale Rolle im Erdsystem. Sie trägt durch die Emission von CO2, CH4 und N2O zum Treibhauseffekt bei, kann Bodendegradation und Eutrophierung verursachen, regionale Wasserkreisläufe verändern und wird außerdem stark vom Klimawandel betroffen sein. Da all diese Prozesse durch die zugrunde liegenden Nährstoff- und Wasserflüsse eng miteinander verknüpft sind, sollten sie in einem konsistenten Modellansatz betrachtet werden. Dennoch haben Datenmangel und ungenügendes Prozessverständnis dies bis vor kurzem auf der globalen Skala verhindert. In dieser Arbeit wird die erste Version eines solchen konsistenten globalen Modellansatzes präsentiert, wobei der Schwerpunkt auf der Simulation landwirtschaftlicher Erträge und den resultierenden N2O-Emissionen liegt. Der Grund für diese Schwerpunktsetzung liegt darin, dass die korrekte Abbildung des Pflanzenwachstums eine essentielle Voraussetzung für die Simulation aller anderen Prozesse ist. Des weiteren sind aktuelle und potentielle landwirtschaftliche Erträge wichtige treibende Kräfte für Landnutzungsänderungen und werden stark vom Klimawandel betroffen sein. Den zweiten Schwerpunkt bildet die Abschätzung landwirtschaftlicher N2O-Emissionen, da bislang kein prozessbasiertes N2O-Modell auf der globalen Skala eingesetzt wurde. Als Grundlage für die globale Modellierung wurde das bestehende Agrarökosystemmodell Daycent gewählt. Neben der Schaffung der Simulationsumgebung wurden zunächst die benötigten globalen Datensätze für Bodenparameter, Klima und landwirtschaftliche Bewirtschaftung zusammengestellt. Da für Pflanzzeitpunkte bislang keine globale Datenbasis zur Verfügung steht, und diese sich mit dem Klimawandel ändern werden, wurde eine Routine zur Berechnung von Pflanzzeitpunkten entwickelt. Die Ergebnisse zeigen eine gute Übereinstimmung mit Anbaukalendern der FAO, die für einige Feldfrüchte und Länder verfügbar sind. Danach wurde das Daycent-Modell für die Ertragsberechnung von Weizen, Reis, Mais, Soja, Hirse, Hülsenfrüchten, Kartoffel, Cassava und Baumwolle parametrisiert und kalibriert. Die Simulationsergebnisse zeigen, dass Daycent die wichtigsten Klima-, Boden- und Bewirtschaftungseffekte auf die Ertragsbildung korrekt abbildet. Berechnete Länderdurchschnitte stimmen gut mit Daten der FAO überein (R2 = 0.66 für Weizen, Reis und Mais; R2 = 0.32 für Soja), und räumliche Ertragsmuster entsprechen weitgehend der beobachteten Verteilung von Feldfrüchten und subnationalen Statistiken. Vor der Modellierung landwirtschaftlicher N2O-Emissionen mit dem Daycent-Modell stand eine statistische Analyse von N2O-und NO-Emissionsmessungen aus natürlichen und landwirtschaftlichen Ökosystemen. Die als signifikant identifizierten Parameter für N2O (Düngemenge, Bodenkohlenstoffgehalt, Boden-pH, Textur, Feldfrucht, Düngersorte) und NO (Düngemenge, Bodenstickstoffgehalt, Klima) entsprechen weitgehend den Ergebnissen einer früheren Analyse. Für Emissionen aus Böden unter natürlicher Vegetation, für die es bislang keine solche statistische Untersuchung gab, haben Bodenkohlenstoffgehalt, Boden-pH, Lagerungsdichte, Drainierung und Vegetationstyp einen signifikanten Einfluss auf die N2O-Emissionen, während NO-Emissionen signifikant von Bodenkohlenstoffgehalt und Vegetationstyp abhängen. Basierend auf den daraus entwickelten statistischen Modellen betragen die globalen Emissionen aus Ackerböden 3.3 Tg N/y für N2O, und 1.4 Tg N/y für NO. Solche statistischen Modelle sind nützlich, um Abschätzungen und Unsicherheitsbereiche von N2O- und NO-Emissionen basierend auf einer Vielzahl von Messungen zu berechnen. Die Dynamik des Bodenstickstoffs, insbesondere beeinflusst durch Pflanzenwachstum, Klimawandel und Landnutzungsänderung, kann allerdings nur durch die Anwendung von prozessorientierten Modellen berücksichtigt werden. Zur Modellierung von N2O-Emissionen mit dem Daycent-Modell wurde zunächst dessen Spurengasmodul durch eine detailliertere Berechnung von Nitrifikation und Denitrifikation und die Berücksichtigung von Frost-Auftau-Emissionen weiterentwickelt. Diese überarbeitete Modellversion wurde dann an N2O-Emissionsmessungen unter verschiedenen Klimaten und Feldfrüchten getestet. Sowohl die Dynamik als auch die Gesamtsummen der N2O-Emissionen werden befriedigend abgebildet, wobei die Modelleffizienz für monatliche Mittelwerte zwischen 0.1 und 0.66 für die meisten Standorte liegt. Basierend auf der überarbeiteten Modellversion wurden die N2O-Emissionen für die zuvor parametrisierten Feldfrüchte berechnet. Emissionsraten und feldfruchtspezifische Unterschiede stimmen weitgehend mit Literaturangaben überein. Düngemittelinduzierte Emissionen, die momentan vom IPCC mit 1.25 +/- 1% der eingesetzten Düngemenge abgeschätzt werden, reichen von 0.77% (Reis) bis 2.76% (Mais). Die Summe der berechneten Emissionen aus landwirtschaftlichen Böden beträgt für die Mitte der 1990er Jahre 2.1 Tg N2O-N/y, was mit den Abschätzungen aus anderen Studien übereinstimmt.

The north Atlantic marine oundary layer experiment (NAMBLEX): Overview of the campaign held at Mace Head, Ireland, in summer 2002

The North Atlantic Marine Boundary Layer Experiment (NAMBLEX), involving over 50 scientists from 12 institutions, took place at Mace Head, Ireland (53.32° N, 9.90° W), between 23 July and 4 September 2002. A wide range of state-of-the-art instrumentation enabled detailed measurements of the boundary layer structure and atmospheric composition in the gas and aerosol phase to be made, providing one of the most comprehensive in situ studies of the marine boundary layer to date. This overview paper describes the aims of the NAMBLEX project in the context of previous field campaigns in the Marine Boundary Layer (MBL), the overall layout of the site, a summary of the instrumentation deployed, the temporal coverage of the measurement data, and the numerical models used to interpret the field data. Measurements of some trace species were made for the first time during the campaign, which was characterised by predominantly clean air of marine origin, but more polluted air with higher levels of NOx originating from continental regions was also experienced. This paper provides a summary of the meteorological measurements and Planetary Boundary Layer (PBL) structure measurements, presents time series of some of the longer-lived trace species (O3, CO, H2, DMS, CH4, NMHC, NOx, NOy, PAN) and summarises measurements of other species that are described in more detail in other papers within this special issue, namely oxygenated VOCs, HCHO, peroxides, organo-halogenated species, a range of shorter lived halogen species (I2, OIO, IO, BrO), NO3 radicals, photolysis frequencies, the free radicals OH, HO2 and (HO2+Σ RO2), as well as a summary of the aerosol measurements. NAMBLEX was supported by measurements made in the vicinity of Mace Head using the NERC Dornier-228 aircraft. Using ECMWF wind-fields, calculations were made of the air-mass trajectories arriving at Mace Head during NAMBLEX, and were analysed together with both meteorological and trace-gas measurements. In this paper a chemical climatology for the duration of the campaign is presented to interpret the distribution of air-mass origins and emission sources, and to provide a convenient framework of air-mass classification that is used by other papers in this issue for the interpretation of observed variability in levels of trace gases and aerosols.

A time-domain probe method for three-dimensional rough surface reconstructions

The task of this paper is to develop a Time-Domain Probe Method for the reconstruction of impenetrable scatterers. The basic idea of the method is to use pulses in the time domain and the time-dependent response of the scatterer to reconstruct its location and shape. The method is based on the basic causality principle of timedependent scattering. The method is independent of the boundary condition and is applicable for limited aperture scattering data. In particular, we discuss the reconstruction of the shape of a rough surface in three dimensions from time-domain measurements of the scattered field. In practise, measurement data is collected where the incident field is given by a pulse. We formulate the time-domain fieeld reconstruction problem equivalently via frequency-domain integral equations or via a retarded boundary integral equation based on results of Bamberger, Ha-Duong, Lubich. In contrast to pure frequency domain methods here we use a time-domain characterization of the unknown shape for its reconstruction. Our paper will describe the Time-Domain Probe Method and relate it to previous frequency-domain approaches on sampling and probe methods by Colton, Kirsch, Ikehata, Potthast, Luke, Sylvester et al. The approach significantly extends recent work of Chandler-Wilde and Lines (2005) and Luke and Potthast (2006) on the timedomain point source method. We provide a complete convergence analysis for the method for the rough surface scattering case and provide numerical simulations and examples.

Vitpunktsförskjutningens påverkan på ICC-profiler vid användande av optiska vitmedel

The connection between fluorescence and color management still is a relatively unexplored area. Thefollowing composition analyses the theory that when printing on fluorescent ink jet paper using ICCprofilesa more yellow print will appear. In theory the ICC-profile compensate for blue light that fluorescefrom the paper with the complementary color, yellow. The human eye apprehands this fluorescentlight as white.When categorizing a number of ink jet qualities some tests to indicate change of color in the final printwere made. Five qualities were chosen for further analyses, each with different white point. TheTC3.5CMYK target was prined on an ink jet printer and measured with different filters for the measurementequipment, GretagMacbeth Spectrolino. U- and UV-filters were used during the testings.From the measurement data ICC-profiles were made to make it possible to watch how the profiles compensatefor the blue change of color that appeared in the data. Although a distinct change of color intoblue were discernible in the measured data there is no evident proof that this cause a final print thatis more yellow. Other conclusions and results are to be read at the end of this composition.

Evaluation of a micro PV-Wind hybrid system in Nordic climate conditions

A one year data analysis for a micro PV-Wind hybrid system (0.52 kW + 1 kW), installed in Borlänge/Sweden is presented in this paper. The system performance was evaluated according the guidelines of the IEC 61724 standard. The parameters obtained allow a comparison with similar systems. The measurement data are also used to evaluate the sizing and operation of the hybrid system. In addition, the system was modelled in HOMER to study sizing options.

Energy Efficiency through Thermal Energy Storage : Possibilities for the Swedish Building Stock

The need for heating and cooling in buildings constitutes a considerable part of the total energy use in a country and reducing this need is of outmost importance in order to reach national and international goals for reducing energy use and emissions. One important way of reaching these goals is to increase the proportion of renewable energy used for heating and cooling of buildings. Perhaps the largest obstacle with this is the often occurring mismatch between the availability of renewable energy and the need for heating or cooling, hindering this energy to be used directly. This is one of the problems that can be solved by using thermal energy storage (TES) in order to save the heat or cold from when it is available to when it is needed. This thesis is focusing on the combination of TES techniques and buildings to achieve increased energy efficiency for heating and cooling. Various techniques used for TES as well as the combination of TES in buildings have been investigated and summarized through an extensive literature review. A survey of the Swedish building stock was also performed in order to define building types common in Sweden. Within the scope of this thesis, the survey resulted in the selection of three building types, two single family houses and one office building, out of which the two residential buildings were used in a simulation case study of passive TES with increased thermal mass (both sensible and latent). The second case study presented in the thesis is an evaluation of an existing seasonal borehole storage of solar heat for a residential community. In this case, real measurement data was used in the evaluation and in comparisons with earlier evaluations. The literature reviews showed that using TES opens up potential for reduced energy demand and reduced peak heating and cooling loads as well as possibilities for an increased share of renewable energy to cover the energy demand. By using passive storage through increased thermal mass of a building it is also possible to reduce variations in the indoor temperature and especially reduce excess temperatures during warm periods, which could result in avoiding active cooling in a building that would otherwise need it. The analysis of the combination of TES and building types confirmed that TES has a significant potential for increased energy efficiency in buildings but also highlighted the fact that there is still much research required before some of the technologies can become commercially available. In the simulation case study it was concluded that only a small reduction in heating demand is possible with increased thermal mass, but that the time with indoor temperatures above 24 °C can be reduced by up to 20%. The case study of the borehole storage system showed that although the storage system worked as planned, heat losses in the rest of the system as well as some problems with the system operation resulted in a lower solar fraction than projected. The work presented within this thesis has shown that TES is already used successfully for many building applications (e.g. domestic hot water stores and water tanks for storing solar heat) but that there still is much potential in further use of TES. There are, however, barriers such as a need for more research for some storage technologies as well as storage materials, especially phase change material storage and thermochemical storage.

Evaluation of a high temperature solar thermal seasonal borehole storage

A solar thermal system with seasonal borehole storage for heating of a residential area in Anneberg, Sweden, approximately 10 km north of Stockholm, has been in operation since late 2002. Originally, the project was part of the EU THERMIE project “Large-scale Solar Heating Systems for Housing Developments” (REB/0061/97) and was the first solar heating plant in Europe with borehole storage in rock not utilizing a heat pump. Earlier evaluations of the system show lower performance than the preliminary simulation study, with residents complaining of a high use of electricity for domestic hot water (DHW) preparation and auxiliary heating. One explanation mentioned in the earlier evaluations is that the borehole storage had not yet reached “steady state” temperatures at the time of evaluation. Many years have passed since then and this paper presents results from a new evaluation. The main aim of this work is to evaluate the current performance of the system based on several key figures, as well as on system function based on available measurement data. The analysis show that though the borehole storage now has reached a quasi-steady state and operates as intended, the auxiliary electricity consumption is much higher than the original design values largely due to high losses in the distribution network, higher heat loads as well as lower solar gains.

Um algoritmo para estimação de estado em alimentadores de distribuição de energia elétrica com base no método da soma de potências

Most algorithms for state estimation based on the classical model are just adequate for use in transmission networks. Few algorithms were developed specifically for distribution systems, probably because of the little amount of data available in real time. Most overhead feeders possess just current and voltage measurements at the middle voltage bus-bar at the substation. In this way, classical algorithms are of difficult implementation, even considering off-line acquired data as pseudo-measurements. However, the necessity of automating the operation of distribution networks, mainly in regard to the selectivity of protection systems, as well to implement possibilities of load transfer maneuvers, is changing the network planning policy. In this way, some equipments incorporating telemetry and command modules have been installed in order to improve operational features, and so increasing the amount of measurement data available in real-time in the System Operation Center (SOC). This encourages the development of a state estimator model, involving real-time information and pseudo-measurements of loads, that are built from typical power factors and utilization factors (demand factors) of distribution transformers. This work reports about the development of a new state estimation method, specific for radial distribution systems. The main algorithm of the method is based on the power summation load flow. The estimation is carried out piecewise, section by section of the feeder, going from the substation to the terminal nodes. For each section, a measurement model is built, resulting in a nonlinear overdetermined equations set, whose solution is achieved by the Gaussian normal equation. The estimated variables of a section are used as pseudo-measurements for the next section. In general, a measurement set for a generic section consists of pseudo-measurements of power flows and nodal voltages obtained from the previous section or measurements in real-time, if they exist -, besides pseudomeasurements of injected powers for the power summations, whose functions are the load flow equations, assuming that the network can be represented by its single-phase equivalent. The great advantage of the algorithm is its simplicity and low computational effort. Moreover, the algorithm is very efficient, in regard to the accuracy of the estimated values. Besides the power summation state estimator, this work shows how other algorithms could be adapted to provide state estimation of middle voltage substations and networks, namely Schweppes method and an algorithm based on current proportionality, that is usually adopted for network planning tasks. Both estimators were implemented not only as alternatives for the proposed method, but also looking for getting results that give support for its validation. Once in most cases no power measurement is performed at beginning of the feeder and this is required for implementing the power summation estimations method, a new algorithm for estimating the network variables at the middle voltage bus-bar was also developed

Non-destructive evaluation tool for monitoring and detection of structural damage by using neural network.

This work studies the capability of generalization of Neural Network using vibration based measurement data aiming at operating condition and health monitoring of mechanical systems. The procedure uses the backpropagation algorithm to classify the input patters of a system with different stiffness ratios. It has been investigated a large set of input data, containing various stiffness ratios as well as a reduced set containing only the extreme ones in order to study generalizing capability of the network. This allows to definition of Neural Networks capable to use a reduced set of data during the training phase. Once it is successfully trained, it could identify intermediate failure condition. Several conditions and intensities of damages have been studied by using numerical data. The Neural Network demonstrated a good capacity of generalization for all case. Finally, the proposal was tested with experimental data.

Secondary protons in the atmosphere at different latitudes

We present a semiempirical method to study the production and propagation of atmospheric secondary protons with energy>100 Mev, moving in the vertical direction. The derived production functions are fitted by the least-square method for the only previously published splash (SP) and return (RE) albedos observed data using the same instrument and measurement sites. The closed agreements between the measurement data and the calculations over a wide range of atmospheric depths lead to a possible extension of the method for other latitudes. The spectra of SP and RE intensities versus the geomagnetic cut-off reveal similar behaviour as assumed earlier by the theory for those components in the Earth's magnetic field. © 1993 Società Italiana di Fisica.

Cogasification of solid fuels

High efficiency gas turbine based systems, utility deregulation and more stringent environmental regulations strongly favor the use of natural gas over coal and other solid fuels in new electricity generators. Solid fuels could continue to compete, however, if a low cost gasifier fed by low cost feedstocks can be coupled with a gas turbine system. We examine on-site gasification of coal with other domestic fuels in an indirectly heated gasifier as a strategy to lower the costs of solid fuel systems. The systematics of gaseous pyrolysis yields assembled with the help of thermal measurement data and molecular models suggests blending carbonaceous fuels such as coal, coke or char with oxygenated fuels such as biomass, RDF, MSW, or dried sewage sludge. Such solid fuel blending can, with the help of inexpensive catalysts, achieve an optimum balance of volatiles, heating values and residual char thus reducing the technical demands upon the gasifier. Such simplifications should lower capital and operating costs of the gasifier to the mutual benefit of both solid fuel communities.

Fatores de correção do perímetro escrotal para efeitos de idade e peso ao sobreano de tourinhos nelore

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)