Process contre| and automation involve the use of technology and systems to monitor, Dee ae ee ee aL) Sen eeu a uu an ee rete ee cit Cee mT Cee ea Ce et eee aoe Cea to-control devices. The twa main types of control systems are: Pen ie te ete La) Fate oe ee eee a eet ee] Ce ooo Peer ares Tern onds meee Sere od ee ee ete et feedback from sensorste continuously monitor the process output and adiust the cont Peon Fee ee erie etre tee ere es temperature, pressure, flow rate, level. and oH. They provide real-time data to the contr ee eee eg ee geet ee ee adj Ogee ee ee henderson et) 19 valves, motors, switches, or ather components in the process. control manufacturing processes and machinery. They are programmable and can handle inputs from sensors, make decisions based on logic, and control actuators cordingly: PLCs are widely used in industrial automation due to their reliability ancl eens Mire er eames ern es dem ty lar to PLCs but are designed for large ‘scale industrial processes that require distributed control acrass multiple control units rece eeiee jerconnected controllers, operator stations, and communication De ee Deh e ee FSP eget ce eae ks eco and interact with the control system. They display real-time dats, alarms, and control options, allowing operators to make informed decisions and intervene when necessary. Meese ee gio ee aetna nol tee Tete eee ten tcc Cone LU en Le ee Ee aL Cc tiaa various sensors, PLCs,and other devices to provide a comprehensive view of the pro fee eae ue eee es See eee ea Cece eae eee ee Cet eee et collection, anelysis, and remote monitoring, improving process efficiency and enabling Ce fee een ee Cee et tae ee ec eed hae Pe sear guee eur ebe Res ata ieseet i s ed includes techniques like model oredictive control, fuzzv leaic control, and adaotive Ce eee ee SL eee een eee cre Co UE og ee ee et eg te Cee Su ec! personnel, and mitigate potential risks.Berea eee) ice eae MN Nee Cun seek OE eid acme URC ison ike position, velocity, and acceleration of mechanical systems. It is commonly used in robotics, Foon ee rae Seen a coerulea te MSI aCole control typically involves the following components: 1. Servo Motor: A servo motor is a rotary actuator that converts electrical signals into precise mechanical motion. It consists of a DC motor, gears, and an encoder for position feedback. The motor rotates to a specific position based on the: control signals it este isa 2. Position Feedback: Servo control relies on position feedback to achieve accurate control. An encoder or a sensor is used to measure the actual position of the system and provide feedback to the control system. The control system compares the desired position with the actual position and generates control signals to adjust the motor accordingly. ray . Control Algorithm: The control algorithm used in servo control is typically a closed-loop control algorithm. It continuously compares the desired position with the actual position and adjusts the motor's speed and direction to minimize the error and reach the desired rectiieetset ices 4. Servo Drive: A servo drive is an electronic device that amplifies and provides power to the servo motor. It receives control signals from the control system and translates them into appropriate voltage and current levels to drive the motor. tn . Controller: The controller is responsible for generating control signals based on the desired position and the feedback from the position sensor. It calculates the error between the desired position and the actual position and a eta Teue a) minimize the error and achieve precise control. Servo control systems are widely used in applications where precise positioning and motion control are critical, such as robotics, industrial automation, and motion control systems.ieee Rees Teele eon er tte SO ren ec eee eee COS Oy exert Pca hurr se ee ur Cec ene marcy etc.) ata desired setpoint or within a specified range. Regulatory control systems typically TMT UCRO peony eu cured 1. The process variable is the parameter that needs to be controlled, such Pe eee cot Meg ara eens aes Oy Pee Ss eel Ra a aU eee Me ocd the operator or determined based on process requirements. Py eRe es eee eee ee re Ete Ree le U Na Ue eee ee Ce one aa Poe Re ROE Wie Fe nee Sea ete Ta manipulated variable. ce PRUE ea ena eC ee ve a keen co Een arte CONC eee RR OR Rem od that can change the process conditions. ig een Coreen sce ce olsen a are Nae Kelecse Peter Ce Tet Ue Recent ces ecR URC een a the setpoint, calculates the error, and adjusts the manipulated variable to minimize the _ error and maintain the process variable at the desired setpoint. o cooley Eure ys Merl ai eliTn ee RSS Oo Ve SSA see cere gee eu ER ce Sete at Og eee eet Ree eee ee ene een te tenet med eee Reece Re Rater etic erence eee cnc? Pesce Meee ee CDI iC a he tee ea ancy ee aa ag represents the desired operating condition or the reference value to which the process 8. Error: The error (E) is the difference between the process variable (PV) and the setpoint (GP).It indicates the deviation of the process variable from the desired value and is used Pe AesTel its isle UALR ees Sil Se cee nL Ce ene Men Maeno Tua Sour Wt coho AO ey Pred a e a es oc RU eu eee eyes ade Tey control signal that adjusts a valve position, motor speed, heater power, or any ather peg ce oe 5. Gain: Gain refers to the sensitivity or responsiveness of the process to changesin the bie ele eeeeiceeWtL cie Wea GL Seco eee the resulting change in the process variable. Gain isa crucial parameter in control system Ce mea a) sea RRM eeu ecu ee ee rer) See ee eR eRe Ree ag te tees et eee crea dynamics of the process and influences the system's response time and stability. 7. Dead Time: Dead time, also known as transport delay or time lag, is the delay between a ere Tn he ge kerf Usk a Recetas te cal eee oe eee a Crest On utr tReet RUE Ea cee teeters rede eR ee ee ere ne teen cee tet ee Sete ee teen Eee ae magnitude of the process response to changes in the control signal and is a critical Pe ees une ee FS Mee renee et ae os Mong ous esd variable exhibits periodic oscillations or fluctuations. It provides insights into the dynamic Deru Ee enue se SOURS a LU eR process variable to reach and remain within a specified range around the setpoint after a change in the contro! output or a disturbance It reflects the process's ability to stabilize EU c cto imcS) teense ees ME eles eRe ine ued Ge) ee RMN Teok A takes for the PLC to complete one full cycle of executing its program. The scan time is an important parameter that determines the responsiveness and performance of the control acne The PLC scan time consists of several stages, including input scanning, program execution, and output update. Here's.a breakdown of these stages: i. Input scanning: The PLC reads the state of its input modules, which are connected to sensors and other devices in the controlled system. it checks the status of these inputs to Cee Ree MR aeRO Sg eee Cie ee ieee cust instructions that define the control logic and behavior of the system. These instructions Sconce eee ee ee reece eee Cee ces ERO Ma see tey ei ce tenis eu Rahat cure kag cer eens modules. These outputs are connected to actuators, such as motors, valves, or relays, TARR D SD Plead eos cl Mg ketee a rind a Ree nett ick ene Ce Teun ce eu CR Ue Rn oe (eT cB Me Ue es Me CCR SCE ere ent eeu ‘of the PLC. It typically ranges from microseconds to milliseconds, depending on the complexity of the program, the processing power of the PLC, and the number of inputs and Goes ‘The scan time is critical because it affects the system's response time to changes in inputs CCC nore er eae eet hie quickly to input changes, enabling faster control actions and higher system throughput. On the other hand, a longer scan time may introduce delays in the system's response and Teer erecta ket tutes Ca oc et RUN ee eA OE ees LASS ‘specifications. It is important to consider the scan time when designing control systems to ensure that it meets the required performance criteria and can handle the desired control Peeean eeu ausSTE amine Mout Cee eyelet a CS Ue el Meee ee i. Robustness and Retiabitity: PLCsare designed to operate in harsh industrial environments. They are built to withstand temperature variations, electrical noise, s, and other challenging conditions. This robustness ensures reliable operation ea oe ns 2. Modularity and Scalability: PLCs are modular in nature, allowing for flexible system eT NEUE ce ee ee ees ‘various modules such as input, output, communication, and special function modules. Bsa aca ec Ac CLEAR US se eM eRe SO Specific requirements of the ap CCIM ee RU Aen CUE Eau tel ee: eke Sire) the specific needs of the industrial process. The programming can be done using programming languages like ladder logic, function block diagrams, structured text, or other high-level languages. This flexibility enables complex control strategies and Pee een Cue cues Pe Cree pues hee cere ace et ete eRe ne heen cosa) to input changes and execute control actions in a deterministic and predictable manner. Pert eee nese R Un ee leet eeu a eases een Tats Pete) synchronization are required, such as in motion control or high-speed processes. ESM o eter ein toa Redo couse Walls Mee AO Me Us Reet a (POD Ks oi Con m CON NCE (ay with the external devices and sensors i r Re eas types of signals, including digital inputs and outputs, analog inputs and outputs, and eee eee een een ae eee ees CLS instruments._ 6. Communication and Networking: PL€s offer built-in communication capabilities to connect with other devices and systems. They support standard industrial communication protocols. such as Modbus, Ethernet/IP, Profibus, and Profinet, allowing seamless integration with other control systems, human-machine interfaces (HMIs), supervisory control and data acquisition (SCADA) systems. and enterprise networks. Pane eee Tee rn es Ce system performance, detect faults, and troubleshoot issues. They offer built-in self- testing functions, error detection mechanisms, and comprehensive diagnostics tools ta Pena eT eu rarer Ut hee Meeks ern at — 8. Safety Features: PLCs incorporate safety functionalities to ensure the protection of eeu eeu ees MeN) lee Cae een ay aoe ue Ree OL sare ee tel ee eee eee de eee ees aDCS, or Distributed Control System, is a type of control system that utilizes various protocols Forme ean eeu eter ote eae oa eee Seay fecetere Mrs tenes 1. Modbus: Modbus is a widely used protocol for serial communication between electronic devices. It is simple, open, and easy to implement, making it popular in industrial automation ms, including DCS. Modbus allows for t! Ey master device (usually a supervisory controller) and multiple slave devices (sensors, Pret c eto 2. Profibus: Profibus is a versatile and robust fieldbus protocol used for communication between industrial devices in DCS. It supports both digital and analog signals and Cr escorted Rene ate MU isn eat el ee eee ae provides high-speed and reliable communication overlong distances, making it suitable for complex DCS applications. 3. Foundation Fieldbus: Foundation Fieldbus isa digital protocol specifically designed for Pe Tee OE UCM RES oho eo ie eee ee Ob Sun ela field devices, such as sensors and actuators, and the DCS. Foundation Fieldbus supports =a eee ee BEETLES Se eae eae eet aE advanced features like device diagnosti ferler-l el item Male Ne Cele occ eel MCU eet eae Wet eicise Rt kole communication with smart field devices in DCS. It combines traditional analog signaling with digital communication, allowing for simultaneous transmission of process variables Noe Re ae Me a AKAM Rt mee ee Te access to device configuration, diagnostics, and calibration data. 5. OPC (OLE for Process Control): OPC is not a communication protocol itself but rather a standard for interoperability between different systems in DCS. OPC allows for seamless integration and communication between diverse devices, software applications, and data sources, regardless of the underlying communication protocols. OPC provides a common interface for data exchange, enabling efficient information sharing in DCS environments.a ees be eee gan eee a (DCS) that is responsible for performing control functions at a local level. 1 TR ee tee ae Ld eee ets peer he eM ese eee integral, and derivative (PID) control, arivanced control strategies, model-based control Benet RL eel oer eg eee Sane] Sere ee ere ee See aR eee ie ately See ee oe ee ee a ae eee a Fee ee ee eg eer ee eee ete ee ee oe eal Perens et esd site tes ete st 3 OU here tt ke Ey Pe ee Ae een nee een eg Pee eg eet ee el ee ee eee a) conditions. The acquired datais used for control calculations, trend analysis, alarming, and reporting. Sel eet ote ee ee ee at) Pee ee ere Ree eee eee ee) Des en Ee ere eget eT es ees enc) Da eee ee Re eee ea ee ee ree actions as necessary to ensure stable and optimal operation. a i Re reed cee ee Eee ee eee ee eee el eee eee as Doo ease ei eM ese eee et eee LCU can prioritize and escalate alarms based on their severity, allowing operstorsto Ree te eee ee Se ee ee Eee eee See cee oe eel eee LOU sends process dats, status updates, and alarm information to the HM, enabling Geer Re ee ce ee a ee) ee ee Reece ee ests ee See ean ee 7 a eed Cee ee Lee eee eu hee eemeeeeeee multiple LCUs work in parallel, sharing the workload and providing backup in case of se a a eee) switchover between primary and backup LCUs, ensuring uninterrupted control and CeesPLC BLOCK DIAGRAM ocrer ° "Processor section (CPU) ‘The processor section is brain of PLC which consists of RAN ROM, logic solver and user memory, The central processing unit is heart of PLC. CPU eontrots monitors and, supendses ail operation within PLC. The CPU makes decision and executes santrol instructions based on the program instruction in memory. © dnputand output module ‘The input module is a mediator between input: ‘and ventral processing unit (CPI which is used to convert analog signal into signal ‘The cutpit module i a medistor benvesn output devices and central processing unit {CPU} which is convert digital signal inte analog signal © Power supply ower supply is provided ta the processor unit, input and output module unit. Power put and oufpud. module ur supply may be integral or separately minanied ini (DC and 24 wots. = Memory section ‘The memory section is the area of the GPU in which data and information is stored and retrived Dats Memory is used to store numerical dats required in math calculation, bar code dats eto. User memory contains user's application program. © Programming device Programming devices are dedicated devices used for losding the user program into the program memmry or edit it and to monitor the execution of the program of the PLC: ttis also used to troubleshoot the PLC ladderlogio program. Hand held terminal (HHT) oF dedicated tenrinal or personal computer are programming devices commonly wsed in most of the PLCs.Multidrop DCS, also knewn as multidrop distributed control system, is a variation of distributed control system (DCS) architecture. Ina traditional DCS, each field device or Cena eesti ehute Me Tear ru ees ni Es Mc AEM Gols LOod PM ACE eke egies sm ee ce ee Le ue ERs meee MUU) Configuration, where they share a common communication link Here are some key characteristics and features of a multidrop DCS: FROIN eM Een emit). eM LC Ree met Ley connected in a series or loop configuration, typically using a digital communication Preece MER el uLanne Ee tte eee e e ee cc oay Peete ene CMU Te LeU eeu eo Se ae or fieldbus protocol, like Modbus RTU. 2 Shared Communication Channet: All field devices or controllers in the multidrop Cee Me ee eu eeu U ne a Dee We tet e Mea ae ete Peary ee ee ice Tu ea ue u eee ett Puree tre Eee eS er Meee = ae Ce a Peoe a CTU te ota eee hoe Mien uy Cn ne ee Wea el Ree ease tele eb ad addressing scheme ensures that data is correctly routed to the intended devices. Ce Ra eeu ERs eee eT aoe Ue se nu Ree en OCU e DE MLS ci EUs i(heereue eL ete ES eee cn aed eRe otter tee once eet Cou Re eee em eee Te to) Cre ge eure eee te alae Miser ese UMaine Pee eget eee else eho sg) Cun ous eee i ete ee RCL eta) DO eeu aro See ten a een ae Dts Cu eS LU tel ee a ees ok ORL EE Ge Cele 6. Challenges and Limitations: While multidrop DCS can be cost-effective and provide Sea Ree ne Ee eRe eel aero) CTU Un Tee eeu SCR near eel tee Oe etme emcee ete EB aleleeesR UE Rue ee Dpto ee tel ees REE Re ee eR Ce eee oePN me lace tae Sotelo MUM oeLe + Leg ocala i bs Biola 2 Dr Sa ET) See ene re Le i MO MCE CES Seams lea RRO es Cries els eset se tele cr eee aetna es rakes nemi turret itielk one) machines for precise positioning of the tooling and werkpiece. They enable accurate control of the cutting or milling operations. pe Bae rues eae eam me oe movement of the print head or the positioning of the build plate, ensuring precise layer- pee atts e Robotics: Stepper motors find extensive use in robotics for controlling the movement of robot joints, robotic arms, and other components that require precise positioning and motion control zy RE ea ee oon enw Renu et) DT Teese see nee eee MRC ee Mua cee re peo Tels ue EL eh Meena eee Laces Liles ‘surgical systems, infusion pumps, and lab automation, where precise and controlled motion is critical.eee este eels ee eee ss) sauce eco Teele iru cocci seh Se el Ce eee ete shoe le La) them suitable for applications that require high precision. Pe eae he ecu es cee al ete cle ur suet ieee DUE WSR ee Uc eas ele cee rele En EU) CRs DEUS Rete ete MRC R rae eee) ai ier cule UROL ela elle allowing them to drive loads with high inertia or resistance. They are capable of holding Pee R acs EU ec LC eee cel soe Pee mee recy ame eet iaccg cherie reiteckals acer itt ls acl Dee ee UR ET tel mele emu ere diel ae Pte leeks mu ome ace ee Disadvantages of Stepper Motors: 1. _ited Speed and Torte Rance: Stepper motors are most efficient at low speeds, and Sg le Ue ete tae een eo teem ee ead renee te lett Ce meee Sa a et CE ee ea ale po PT eeeul ee ehetulevgiireluieaelseise RO t uta tiasy iso 3 ©) eg and’ 1 >>>: Stepper motors can exhibit resonance and vibrations at Peace TEL Tem reek one ee leet le nee lel ule mello eL el kee ee rene Nu geo ee Re Cn oe elie CMa e AEE El une See er icls Sels Ee eee Mie em cane ureter a rence Reet terre) acceleration/deceleration profiles may require more complex control algorithms or De letstSe ba eee ou om Despite these limitations, stepper motors are widely used in various industries due to their Gore eet ene Noted certo Rete Ce OMe is eet er emt ee nie eeu eee eet alee TUTaree tie ist (RTUs), are its Of industrial on and control systems that it Cs Eure] PRU Cus We Eels elem ala Tes] facturing. Here's an overview of remote I/O systems: Teese Wear Rene er) elie eae neu ek Tecate see eget cae Pee tee eu ee eet eee Lane gue ee ee Laem gol as DE RR one ale ERE ee Recut eae) rol system or supervisory control and data acquisition (SCADA) system. Similarly, they receive control commands from the central system and execute them on the field devices: The architecture of a remote I/O system typically includes the following components: EI s: These modules serve as the interface between the field devices and the communication network. They are usually installed near the field devices and contain input and output channels to connect to sensors and actuators. ac Dede ced 0 Foes cee ual orate Ulelesee saat eee tC Ge sec (RS-485, Modbus, Profibus, etc), or wireless protocols (Wi-Fi, cellular, etc), to transmit data between the remote I/O modules Peer eee eee 3c The central control system or SCADA system receives the data collected by the remote I/O modules and provides control commands to operate the field devices. It typically includes a human-machine interface (HMI) for visualization, monitoring, and control purposesaCe aero ea url el a Lee E-ULs) eR eR esa eRe eee see Une te ete Eee UC ane ee oe oe ee ee UL) eee Reinert p y Remote I/O systems offer flexibility and scalability in system Cee te Cee eke Poke UL oe ee Cate eT Sete Ue Cul ce Eu kera ge bese eee Ces a See mene hua enue OUR communication networks, remote I/O systems reduce the amount of wiring required, Pees Rete eos Ace Ce Ae eon sae) cs ik ee One eee ee he) Pee auc Reet] PEM eC eet set ML AEM eUte Tbs a ace elie een cast ee nee US) fue Tee Se a Remote I/O systems enable efficient data acquisition from distributed field devices. The collected data can be integrated into higher-level systems, such as SCADA or enterprise resource planning (ERP) systems, for advanced analysis, reporting, and decision-making. zs Ron Oe Cu ke uncer o te ee ee ER CAO UCM EWE te a) devices. This enables proactive maintenance, troubleshooting, and quick response to fru cots Overall, remote I/O systems play a crucial role in industrial automation, allowing for efficient and reliable control and monitoring of field devices in remote or challenging environments. Biwi e ACU Renee eee ketene Meret se SNL ee SN ene ES CL?Peer Pee oer PAs eae Se eee ae el ee GEE ett Re reat ot ou Meya tated ongenetee lator ene Macys [etal (os A Were (terrae Re Peer ee tpg CMa MeEM lees cs ecco ol eee ee Rte RU Cs Ace ‘executing control logic and coordinating the operation of other components. Itperforms tasks such reading input values, See tee ceca Rar values based on the programmed logic. Ee kee coe ee easy Reed ese Die teed ae CRU Ee Un leu Cem UMC as selce- las ese a. Program Memory: This memory holds the control program or logic written by the Dee a eee nee nt Ae ee esol Ee system program memory, which contains the PLCs operating eee et een ee b. Data Memory: The data memory stores variables, timers, counters, and other data used AU eeu een lela eee a ewe Ri sa Cen alilg See CER UE Cee nr om ¢. Retentive Memory: Some PLCs have a separate area of memory called retentive memory, which retains data even when power is lost. Retentive memory is used to store Pees eee ETO O C U RRs Mie eteCelResrtenn sok ORT a As Ruse eco de EM ma UO ore reco eee Puce Ue ee ACI GEE DOME ETS TSS EE Ser SO TIC seer CEIEIE LA actuators and provide electrical isolation and signal conditioning. They convert input signals from the field davicas into digital or analog data that the CPU can process. Sul a Semel elise] Re unR lees icel na 3 Pr retreat eee eee lide ae 4. Communication Interfaces: PLCs often have communication interfaces in the processor section to enable communication with external devices or other PLCs. These interfaces may include Ethernet ports, serial ports, or specialized fieldbus interfaces (such as Profibus, Modbus, or DeviceNet). Communication interfaces allow PLCs to exchange data OT er aoe es eM meen coll eM d eRe oe ees hee Cle ee em ce DA RLU ag Rea ce en eu Te ee At aL required voltage levels for the internal components of the PLC. pe hee eat es audThere are different types of Distributed Control Systems (DCS) used in industrial c Elo} fete nL eect Oke RNa ema CELE lel eel ile hs] 1. Integrated DCS: This is the mast common type of DCS, where both control and Een: Rte eee eats ec Eee Res etm eeu Re sre ate control processors, and I/O modules in a unified architecture. 2. Hybrid DCS: A hybrid DCS combines elements of traditional DCS and Programmable Logic Controllers (PLCs). It may have a centralized control system similar to a DCS but also include local PLC-like controllers for specific subsystems or processes. 3. Component DCS: In a component DCS, the control system is composed of separate eee net ates STUER een nce Me Reel enema operator workstations, independent controllers, and I/O modules, which communicate Pets eRe nnitunci rir 4. PC-based DCS: This type of DCS utilizes standard personal computers (PCs) as the hardware platform for the control system. The control software runs on these PCs, which are connected to I/O modules and field devices through communication interfaces eu MCU IO a Galera ea ano et ta Curis niet st Te eee Ue eset: ae oun Wehr emt sme M ea are T as a Seta Reet Re eck ienee | eee een ore tel) Erato i Sate ree ek UE Re Ue eee ee uke ese Ca een Mu enraged aed eee eet ud er Me Es cud ges) Reem Mea me Meee ect ls Riu aU eliTo docket Gere tune eee eae ETA sa cesses cual wee ace ear integration with existing systems.a Tee er Ld ene te ete et eee ate) ‘control and menitoring functions into. single integrated system. Below, Il expisin the ence esas Pre cs feteones Coat aa Comuniestion | ood f + f U f Ceara f U U mo f f mo i + f f U U ie.) f ee) U oC | Ca f f U U Ce ee eg ene en oem ined ‘They consist of computer-based workstations equipped with Human-Machine Intertaces CO ear ere Ea Ea ene Re ee eee Ecce et CE ee kee Se Co roi Peres (Communication Network The communication network connects all the components. of pee eee ee eg (processors, and I/O'madules. The network can use various protocols and technolagies, Pree ng tone ee En! Dea ies Se ee Cee nea a eta Cee ene ee ee nog stations and the /O modules. These processors process the data, execute control a‘such as Ethernet, fieldbus protocols, or wireless communication, depending on the Poeun Muse Ce err Meee ere tad eM poe ad Petes es ee eles ed sere ea eed coed stations and the I/O modules. These processors process the data, execute control Gre ewe ee terete et ted enue Messner) ee Muay peated a ote eet etc) Cee eee Dee ea helen ere eae ee eee ey epee eee Prete ee Cte ee ee ees ete ety from the field devices into digital data that can be processed by the control processors. Set ee eee ene een cr er haste ae terse eee Ren them into appropriste snelog or digital signals to control the field devices. Bet ee te ee eet eet ese Derr etre is ise Occ eee) eee couse etalk sR erm ed steed Deets eRe ems rem eet Re Bee ares sees stg recl Reta eRe eso Fee ee eet nee ete the tel ee ees eet eee eee ol re ee ese Eas Cer Tee st etre ee ge Re eet ee eae ee et tars eet ieeccemen ete Rte ne eS tee ice pee ceed peti Feces t eM ee Te emt tt a een eet se one ea emcee and control purposes. Cer etel ere Len iene Peso eg tree ate enn Fee eae eR et ee eee ee eater eee Pans Pee Tuo e ha tee cts tran eh el Me tt sure ce iy Peele See Ee ike steer gee Pete ieee Pee re et ee er eda nem ie) ee ele een nate ee an tae eae) Sr ee eae bat ie eee es eg eta meer) reenter turd