integrated condition monitoring and dynamix™ 1444 series › images › sem_2019 › seminar 2019...

Copyright © 2019 Rockwell Automation, Inc. All Rights Reserved. 1

Integrated Condition Monitoring and Dynamix™ 1444 Series

Rotec Seminar, Burgas

May 30-31, 2019

Copyright © 2019 Rockwell Automation, Inc. All Rights Reserved. 2PUBLIC

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INTRODUCTION

TO ICM

Dynamix 1444

SERIES

DYNAMIX SENSOR

SOLUTION

Agenda

DYNAMIX IN

INTEGRATED

ARCHITECTURE

DYNAMIX PORTABLE

SOLUTION

CONDITION

MONITORING

SOFTWARE


IntroductionWhy Monitor Machine Condition?

� In any plant we have assets (big or small) that we want to:

o Protect from damage

o Prevent problems that would

result in a loss of production

o Assure or improve Quality

o Reduce maintenance

costs


Protect from DamageMonitor the Overall (total) Vibration

Danger

Alert

Overall

Danger Severe vibration, damage and/or failure possible

Alert Moderate vibration. Cause should be investigated.

Normal Machine is balanced but faults may be present.

Investigate Condition • Plan Maintenance

Mitigate Damage to…• Protect Investments• Protect Personnel• Protect Environment

Operation at a level above “Danger” may result in significant damage, and

possibly catastrophic failure. Maintenance performed before this point will be

less expensive and require less time to perform.


Monitoring Machine Condition…Requires detecting and identifying faults

� Overall vibration does not provide insight into what is causing the vibration

� To understand what is causing the vibration, monitor the Indicators of fault...

Mechanical attributes

Speed

Type of bearings

Number of impeller vanes

Number of fan blades

Number of gear teeth

etc.

Electrical attributes

Speed

Type of motor

Line frequency

Number of rotor bars

Number of stator slots

etc.Identifying fault indicators

requires knowing basic

characteristics of the machine.


Monitoring Machine Condition…Faults are identified by the frequency of the vibration it causes

� Faults induce repetitive

impact or cyclic forces at

specific, predictable

frequencies (f).

Except for structural

resonances which

simply “ring” at the

resonant frequency

when excited.Pits or scratches on balls,

broken or damaged gear

teeth... Imbalanced rotors,

misaligned shafts...


Monitoring Machine Condition…The FFT separates the individual frequencies from the raw signal

Complex Waveform

Am

pli

tud

e

Time

Accelerometer

The FFT converts the raw signals

into the specific frequencies at

their respective amplitudesA

f

FFTFFT

∑∑

Faults force vibration

Unbalance: 1xRPM

Looseness: 2xRPM

Bearing: #Elements x RPM

Turbulent Flow: #Blades x RPM


Monitoring Machine Condition…A simple example

• Vibrations at these frequencies indicate the presence of a specific condition or fault*

• The magnitude of the vibration is an indication of the severity of the condition or fault

*or, sometimes, one of several faults that could cause vibration at the same frequency.

Bearing DefectTurbulent Flow


Monitoring Machine Condition…By trending fault indicators

Alarm

Detection

Fault is present, severity is moderate

Fault is not present

Fault is present, severity is severe

Continued operation above “Alarm” may result in damage to components other than

the wearable component, which will cause longer and more expensive repairs.


Monitoring Machine Condition…Proven Technology

� We have been analyzing

machine vibration for over

30 years. We know what

it means!

Unbalance (1x RPM)

Mechanical Looseness(2x RPM and 3x RPM)

Bearing Wear (Nx RPM (“N” depends on bearing model))

Misalignment (2x RPM)

Rub (1/2x RPM)Cracked rotor bar, loose laminations, eccentric air gap (1x & 2x Line Frequency)

Cavitation(Broadband excitation frequency)

Turbulent Flow or Eccentric Impeller (# vanes x RPM)

Data Collector,

circa 1982

Mechanical & electrical faults and many process conditions force

vibration at specific, predictable, frequencies


Fault Indicators in LogixIntegrated Fault Detection and Identification

� Tags represent the tools used to measure the considered fault indicators

� Alarms signal detection

� Trends monitor propagation

� This is what Dynamix does!

Dynamix provides the

measurement, signal

processing and

integration tools

necessary to present the

indicators of condition or

fault, configurable for any

machine, to Logix as

simple tags over

EtherNet/IP.


Fault Indicators in the IAIntegrated Visualization

� True machine condition made

“part of what you do”.

� Fault Indicators can be acted on,

the same as any other tags.

� Fault Indicators can be presented

on faceplates and other HMI’s the

same as any other tags.

� Fault Indicators can be written to

an historian and trended the

same as any other tags.


Condition Monitoring ValuePractical Introduction

What’s the cost of a late warning?

Downtime

Product Quality

Inventory

Expediting

Overtime

Collateral Damage

Safety

Reliability

Credibility$

Productivity Expenses Organization

Line Shuts Down

Process Alarm

Noise Increases

Operators See an Issue

Temperature Rise

Condition Monitoring

Late

SAT - SUNFRITHUWEDTUEMON

3029282726

2322212019

17

18

1615141312

10

11

98765

3

4

21

! 2425

Enable your Operations to drive better Maintenance, Quality & Reliability

How do you identify equipment failures today?


Condition Monitoring ValueThe Value of What it Can Tell Us

Actionable information so operations can drive better decisions

Identify the nature of the problems

Why is it failing?

Identify the severity of the problems

How bad is it?

Predict the most likely outcome of the problems – avoid downtime

When is it going to fail?

What is failing?

Clearly identify machines that have potential problems


Condition Monitoring ValueThe Numbers…

The application of a Condition Monitoring program can:

� Increase � Equipment Productivity 30%

� Workforce Efficiency 20%

� Equipment Life 10%

Improving plant productivity through Plant Asset Monitoring technologies is

real and has been successfully applied for over 30 years. Data Collector, circa 1982

� Reduce

� Defects 10%

� Downtime 20%

� Inventory Costs 25%

� Unplanned Outages 45%


Sustainable Condition MonitoringAn Integrated Architecture Solution…

Fault IndicatorsTime Waveform Spectra

Dynamix Monitors do the Math

Logix Controllers Apply the RulesVisualize it Anywhere


AgendaPart 2: Condition Monitoring Products


In t roduc ing the Dynamix 1444 Ser ies


Agenda

Condition Monitoring Software

Dynamix and the Integrated Architecture

Functional Summary

Introducing the Dynamix 1444 Series

Introduction to Integrated Condition Monitoring and Protection


The Dynamix 1444 SeriesA Simple Architecture…

� A Simple Distributed System� A Single Main Module

o + a single main module terminal base

� Three Expansion Modules

o Provide optional capabilities when you need them

o + a common expansion module terminal base

� Removable Plug Connectors

o For each module and each base

o Available in either spring or screw cage type

� Part of our Integrated Architecture� Managed and Configured from Logix

o Over EtherNet/IP

� Capable of Independent Function, and Action

o Regardless of the controller’s availability or status

Standard Machines Complex Machines & Process

CompactLogix™ Controller ControlLogix® Controller


Dynamix 1444 Series…built on a new, innovative package

Use with removable plug

terminal connectors – simplifies

wiring

Connectors are angled and labeled for

improved access, visibility and ease of

use

Ethernet connections located

above field wiring for easy,

uncluttered access

Integrated Buffered

Output BNC connectors

Recessed frame designed

for easy gripping

Innovative DIN mount design

with tension and leveling

control

Rugged, low noise, fully

soldered card stack

construction

Connectors fitted directly to the

module for sensitive signals –

fewer internal circuit connections,

less noise, higher reliability

Connectors fitted to the terminal base for non-sensitive

wiring such as power, relays, grounds…


Dynamix 1444 SeriesDynamic Measurement Module

� 4 Dynamic Inputs

� 2 Speed Inputs� Speed can be measured from two TTL inputs,

or read from controller output assembly

� 2 Ethernet Ports� Single or Device Level Ring (DLR)

� 2 Digital Inputs� Function is user programmable

� 2 Digital Outputs� Function is user programmable

� 4 Buffered Outputs� BNC & terminal pin connections

� 1 SPDT relayMany applications require only one or more Dynamic Measurement (Main) Module

Dual Processors

Nonvolatile

Memory

24 Bit ADC’s


Dynamix 1444 SeriesArchitecture & Local Bus

Architecture Local BusNetwork Connections on Main Module Host / Expansion Module Communications

Insert / Remove Under Power Speed Signal Distribution

Interconnect via included ribbon cable between terminal bases Power Distribution

Power

Host / Expansion Module Network

TTL Signal & TX OK

Power

TTL Signal & TX OK

TTL Signal & TX OK

TTL Signal & TX OK

Host / Expansion Module Network


Dynamix 1444 Series6 Catalog Numbers! (plus the removable plug connectors)

Dynamic Measurement Module Tachometer Signal Conditioner Expansion Module1444-TRSX02-02RB

1444-DYN04-01RA2 Speed Inputs

• Eddy Current Probes• Magnetic Pickups• NPN / PNP Sensors

Minimum input frequency

• Manual threshold:

1 cpm (0.017 Hz)

• Auto threshold: 6 cpm (0.1 Hz)

2 TTL Speed Outputs

1 TSCX per Dynamic

Measurement Module

6 Dynamic Measurement Modules

per TSCX

4 Dynamic Inputs

2 TTL Speed Inputs

1 SPDT Relay

4-20mA Output Expansion Module Relay Expansion Module Terminal Bases

1444-AOFX00-04RB 1444-RELX00-04RB 1444-TB-A, 1444-TB-B

4 Channels

Output referenced to any measured parameter

1 per Dynamic Measurement Module

4 SPDT Relays

3 per Dynamic Measurement Module

1 Dynamic Measurement

Module Base

Includes switch for last octet of

the Ethernet address

1 Expansion Module Base


Dynamix 1444 SeriesEthernet

Ethernet Connector (2): RJ45, shielded1

Speed: 10MB / 100MB

Modes: Half/full duplex

Operation: Auto-switching

Auto negotiation

Auto mitigation

Protocol EtherNet/IP Industrial Protocol

Connectivity Single Ethernet (IEEE 802.3)

Device Level Ring (ODVA)

IP Address Set by hardware switch on the terminal base,

Set in configuration2

Concurrent Access Controller (owner)

Up to 3 additional sessions

Time Synchronization IEEE-1588 Standard Ver. 2

CIP Sync (ODVA)1 Allen-Bradley 1585 Ethernet Media recommend

2 IP address retained in nonvolatile memory


Dynamix 1444 SeriesPower, Environment, Certifications & Approvals

Power

Redundant Supplies Integral redundant power supply inputs with supply fault detection and status available on I/O

Supply Voltage +24VDC (18V to 32V wide range input) – designed to accommodate battery backed systems

Environment

Operating temperature -25°C to +70°C

Conformal coating All circuit cards are conformal coated

Electrical Safety

CE, CSA & UL

Hazardous Area

IECex-Zone 2 & ATEX – Zone 2, cUL – Class 1 Div 2 Groups A,B,C,D

Region & Country Marks

CE, C-Tick, Korean

Marine Certifications

DNV, ABS

Designed for Distributed & Skid Mount Applications!

The foot print of the architecture, its power, temperature,

environmental and hazardous area approvals, and its

shock & vibration ratings, make the product uniquely suited

to serve distributed and skid mount machine applications.


Functional SummaryMeasurements

� The measurements necessary to monitor any kind of machine

� Dynamic (AC) Measurements

� Discrete Measurementso Per Channel Pair

• SMAX Magnitude

• Shaft Absolute Vibration

o Per Channel

• Overall (2)

• Order Magnitude & Phase (4)

• FFT Band (8)

• Not 1x (1)

• Bias / Gap (1)

• gSE Overall (1)

� Complex Measurementso TWF and FFT (to 1800 lines)

o Asynchronous and Synchronous

� Static (DC) Measurements

� Single DC Channelso Axial Position

• Thrust

• Valve Position

o Eccentricity

o Rod Drop

o Proportional Voltage

� Paired DC Channelso Differential Expansion

� Demand Measurements

� Synchronous, Asynchronous

TWF and FFT (to 14,400 lines)

� Simultaneous Cross Module Measurements

� Speed Measurements

� SpeedRetains maximum speed measured

� Rate of change of speed


� Alarm and relay solutions to meet any requirement

� Measurement Alarms (24)

o Apply over/under inside/outside window limits to any measured parameter

o Enter limits as static values or send limits on controller output

� Voted Alarms (13)

o Apply voting logic on up to 4 Measurement Alarms

o Define set-point multiply and alarm gating

� Relays (1, 5, 9 or 13)

Main modules include a single onboard physical relay Add 4 per Relay Expansion Module (0-3)

o Associate with any voted alarm, or…

o Leave unassigned to actuate only on fault

Functional SummaryAlarms and Relays


Functional SummaryCapabilities

� The capabilities necessary to serve any application

� Machinery Protection

o General machine protection

o API-670 compliant protection

� Machine Condition Monitoring

o Production assurance (uptime)

o Condition based maintenance

o Quality

� Vibration

� Acceleration

� Velocity

� Displacement

� Absolute Shaft Vibration

� Spike Energy (gSE)

� Speed

� Phase

� Pressure

� Thrust

� Case Expansion

� Differential Expansion

� Rod Drop

Real Time, Continuous, SurveillanceReal Time Processing of Critical Parameters,

Continuous Processing of Diagnostic Data,

Demand Processing of Infrequent Measures

� Relays

� 1 SPDT onboard main module

� 4 SPDT relays per expansion relay module (up

to 3 per main module)

� 4-20mA Outputs

� 4 per Analog Output Expansion Module

� Each output configurable to any measurement

� Event Capture

� Event Log

� Trend / Alarm Trend

� Startup / Coastdown


Dynamix Sensor So lu t ions


Vibration MeasurementsCan be done in any of three ways

bearing

bearing housing

bearing

bearing housing

Shaft Relative: The measurement is the relative vibration between the shaft and the bearing, which is the structure that the sensor is mounted on.

This is what a typical ECP installation measures.

Case Absolute: The measurement is the absolute vibration of the casing relative to free space.

This is what an accelerometer or velocity sensor that is mounted on the bearing housing measures.

Shaft Absolute: The measurement is of shaft vibration relative to free space.

This is (usually) measured by adding the vibration of an ECP and an accelerometer that are mounted at the same location and in the same orientation.

Eddy Current Probe Accelerometer

Eddy Current Probe & Accelerometer


Dynamix™ SensorsWhy bearing type matters

The vast majority of bearings are one of two types:

Rolling Element, or “Anti-Friction” Bearings and Fluid Film Bearings

bearing

bearing housing

bearing

bearing housing

Oil Wedge (load zone)Soft Metal

(Babbitt)

Eddy Current Probe

Mounted in hole drilled through the bearing housing so that the tip is very near (but does not touch) the shaft.

Accelerometer

Mounted on bearing housing. Ideally screwed on but may be glued or mounted with a magnet.

Fluid Film: Capable of supporting very high loads, high temperatures, high speed. Expensive and associated rotor dynamics are very complex.

Rolling Element: Low cost, simple to apply. But are capable of only moderate speeds and relatively light loads. Rotor dynamics aren’t difficult but diagnostics can be complex due to all those spinning balls!


1443 Series SensorsQuality Accelerometers and Accessories

� Top Exit Sensors

� General Purpose

� Low Frequency

� High Frequency

� Hazardous Area

� Velocity Output

� Dual Output (Acceleration & Temperature)

� Side Exit Sensors

� General Purpose

� Velocity Output

� Hazardous Area

� Dual Output (Acceleration & Temperature)

� Sensors with Integral Cables

� General Purpose

� 5 m / 16 ft.

� 10 m / 32 ft.

� Shield case grounded

� Shield case isolated


1443 Series SensorsBetter Sensors at Lower Prices!

� Easier Selection

� Smart Catalog Numbers

� Parts easily identified by their catalog number

� No “decoder ring” necessary

� Fewer Catalogs

� 14 1443 Sensors replace over 23 EK Sensors

� Lower Cost

� 1443 Sensors average 33% less

expensive than their EK equivalents

� Improved Performance

� Higher rated temperature for standard sensors

� Wider frequency range, more consistent across sensors


1442 Series Eddy Current ProbesFor Precision Displacement Measurements

� API-670 Compliant� System fully satisfies API-670 Accuracy Requirements –

Even when probes, extension cables and drivers are switched out!

� Isolated Driver� No special enclosure required

� Less chance of introducing signal noise

� Easier installation

� Color Coded Connectors� Reduces likelihood of installation and maintenance errors

� Injection Molded Probe Design� Improved quality and reliability

� Narrow Profile DIN Mount Driver� Less space

� Easier Installation


Dynamix XM Ser ies Moni tors


Dynamix 1440 XM SeriesA Family of Proven, Dependable, Capable Intelligent I/O Modules

Machine Protection

Machine Condition Monitoring

Intelligent, Distributed, Rugged, SafeDual Processors

DeviceNet or Standalone

Rated to +65°C and Marine standards

Hazardous Area Approved

Dynamic Measurements

• XM-124 Standard Dynamic

Measurement

• 1440-DYN02-01RJ Dynamic

Measurement for ControlNet(use with 1440-ACNR)

Relays

• XM-441 Expansion Relay

• XM-442 Voted EODS Relay

Speed Measurements

• XM-220 Dual Speed

Gateways

• 1440-ACNR ControlNet to

XM-Net Adapter (use with 1440-DYN02-01RJ)


Dynamix 1440 XM SeriesEnvironmental & Functional Summary

Catalog No. Use Function Description1440-SDM02-01RA Monitoring &

Diagnostic

Data

Vibration, dynamic pressure, speed, thrust, trend & SU/CD capture,

XM 124 Standard Dynamic Measurement

Module

Continuous or alternated Spike Energy (gSE) vibration,

High performance tracking or band pass filtering,

Thrust and Eccentricity measurements

1440-DYN02-01RJ Vibration, dynamic pressure, speed, Logix integrated XM Series Dynamic Measurement Module

1440-SPD02-01RB Speed Speed, overspeed, reverse rotation, locked shaft XM 220 Speed Measurement Module

1440-REX00-04RD Relay Adds relays to XM-124 Dynamic and XM-220 Speed modules XM 441 Expansion Relay Module

1440-REX03-04RG Used with (3) XM-220 modules in an Overspeed Detection System XM 442 Over Speed Relay Module

Power EnvironmentRequired Protection Listed Class 2 Power Supply Operating temperature -20°C to +65°C

Supply Voltage +24VDC ±10% Conformal coating All circuit cards are conformal coated*

* Except DYN and ACNR Modules

Electrical Safety Hazardous AreaCE ATEX – Zone 2

CSA & UL cUL – Class 1 Div 2 Groups A,B,C,D


Dynamix in In tegrated Arch i tecture


Dynamix in the Integrated ArchitecturePart of the Connected Enterprise

Smart AssetsMobility &

Visualization

Scalable Computing

(Control, Edge, Cloud)

Multi-disciplineControl & Information

Secure NetworkInfrastructure

Information Management& Analytics

Augmented Reality,

Virtual Reality,

Wearables

Analytics

End-end

Security

Model-predictive

Control,

Optimization

Internet of Things

Dynamix™ Enables analytics within the control architecture!

Dynamix™ Information from data, at the machine!


Dynamix in the Integrated ArchitectureController I/O

� Supported by Logix

I/O is provided and managed the same way as for any device.

� Requires Logix version

o V24+

o V24.51+ Redundancy

� Configuration

o Provided by an Add On Profile

� Assemblies

o Configuration

o Input

User selectable tags for input

o Output

User selectable tags for output

Controller Output

Control Bits Data

Trip Inhibit

Set Point Multiply (2)

Gate Controls (2)

Alarm Reset

Alarm Buffer Trigger

Alarm Buffer Reset

Transient Buffer Resets (4)

Speeds (2)

Alarm Limits (16)

Controller InputInput Assembly parameters selected

in Module Definition.


Controller Output

Control Bits Data

Trip Inhibit

Set Point Multiply (2)

Gate Controls (2)

Speeds (2)

Alarm Limits (16)

Alarm Buffer Trigger

Alarm Reset

Alarm Buffer Reset

Transient Buffer Resets (4)

Dynamix in the Integrated ArchitectureA Standard Logix I/O Solution For Machine Condition Monitoring

� Supported by any Logix controller:

� ControlLogix

� GuardLogix

� CompactLogix

Requires Logix version:

� V20 or greater for standard controllers, or

� V24 or greater for redundancy

Controller InputInput Assembly parameters selected

in Module Definition.


Our EtherNet/IP Network StrategyWith Dynamix

Dynamix™

Condition

Monitoring

Dynamix™

Protection

CBM Applications,

Asset Management

ApplicationsCBM,

From the beginning the Dynamix 1444

Series was designed and developed

to execute this core Rockwell Automation

strategy.

Native dual port Ethernet, the

EtherNet/IP protocol,Device Level

Ring, an integrated Logix solution, and all of the products and capabilities of Rockwell

Automation’s Integrated

Architecture…

These are what makes the Dynamix 1444

Series the industries most open yet

secure, integrated and capable

solution for machinery monitoring

and protection available today.


Dynamix System ArchitecturesDedicated Condition Monitoring System

Configuration held in nonvolatile

memory assures operation if the

controller or network fails


Dynamix System ArchitecturesCondition Monitoring within an Integrated Architecture


Condi t ion Moni tor ing Sof tware


Introducing Emonitor CMSSoftware for Any Condition Based Maintenance Program

Emonitor CMS is our most complete and advanced software package…

It is our ONLY Software package!

The Right Software,

Made simple…

No Functional Levels

No Tag Limits

No Missing Features

No Hidden Costs

No Options


Introducing Emonitor CMSComplete CbM Software for Any Architecture

� Multi-User

� Each CMS License includes 4-User Activations

…Installed on the same or different FTA servers

� Activations accumulate with additional CMS licenses

� Supports Microsoft SQL Database

� Client Server Architecture

� Supported Instruments & Data Sources:

� Online data collection from Allen-Bradley

o Dynamix™ 1444 Series Integrated Machinery Protection

and Machine Condition Monitoring Monitors

o XM® 1440 Series Monitors

o Enwatch surveillance monitors

o Logix controllers

o OPC servers

� Offline route-based data collection using Allen-Bradley Dynamix 2500 and Enpac 2500 hand-held data collectors

� Operating Systems

� Windows 7 (32/64 bit)

� MS SQL 2008 or 2012

� Serve Data From CMS

Using Included:

� OPC Server

� CMMS Gateway

o XML gateway

development

tool

The Right Software,

Made simple…

No Functional Levels

No Tag Limits

No Missing Features

No Hidden Costs

No Options


The Dynamix 1444 SeriesAnd the Integrated Architecture

� An architecture with a single core module that:

� Can be applied to any Machinery Protection application

� Can serve any Condition Monitoring Application

� Applies a native EtherNet/IP backplane

� Is a component of Rockwell Automation’s Integrated Architecture


Condition Monitoring SoftwareAdvanced Capabilities for Advanced Users

When comprehensive Predictive Maintenance and

Analysis Software is required…

Emonitor CMS provides the industry’s most comprehensive suite of tools for establishing and

executing a Condition-based Predictive

Maintenance (CbM) Program.


Dynamix Por tab le So lu t ions


Dynamix™ Data CollectorFunctionality to Serve any Application

Feature Description

Ease of Use Light weight, hand held, intuitive icon and menu driven navigation

Speed State of the art processor & co-processor allow faster navigation and data acquisition.

Display Larger color display allows for easier data viewing in the field

Rugged Industrially designed to withstand the harshest of environments

Software Connectivity Combined with industry leading Emonitor CMS software, making the most complete

package

Scalability Standard single channel instrument firmware expandable 2 channel, balancing, etc.

Customers purchase what they need

Unique Capabilities Patented internal Laser tach, and gSE support

Expanded memory Unlimited memory for data storage

Language Capability French, Spanish, Italian, Chinese


Dynamix™ Data CollectorFunctionality to Serve any Application

Feature Description

Standard two-channel

Function

• Off-route two-channel• Route mode two-channel.• Triax measurements done in single transducer mode.

Optional Modules • Four Channel Module.o Triax measurements done simultaneouso Off-route four-channel.

• Time Recorder module (Three-channels).• Frequency Response Module (Single Channel)• Run Up Coast Down Module (Single Channel)• 2 Plane Balancing Module• Bump Test Module (Three Channels)

Specifications Max Frequency 80KHz# of Channel Maximum 4-channel input

ADC resolution 24bit (Sigma Delta)

Signal input range min 0 to +/- 40mVac, max 0 to +/- 25Vac

Tri-axial support Simultaneous Measurements

Headphone support Integrated

Laser tacho support Integrated

Communication support USB

Route & off route Yes, standard

Internal Route memory 128 MB flash memory for internal storage

External Route memory SDHC to 16GB

integrated condition monitoring and dynamix™ 1444 series › images › sem_2019 › seminar 2019...

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