Abstract:
An automated animal feeding station includes a housing having a closable lid that is hingeably attached to the housing. The housing includes a removable liner that forms an interior surface having one or more feeding compartments. The lid is hingeably attached to the housing such that when closed, the lid forms a sealable cover over the opening. The animal feeding station may include a sealing surface that forms a seal to the lid such that when the lid is closed, air and moisture transfer between the interior and the exterior of the housing is reduced. The animal feeding station also includes motor unit that is mechanically coupled between the housing and the lid, and may be open and close the lid upon actuation by motor control signals provided by a programmable control unit based upon a user defined feeding schedule and an identification sensor.

Description:
BACKGROUND 
       [0001]    1. Technical Field 
         [0002]    This disclosure relates to animal feeding systems, and more particularly to an automated animal feeding station. 
         [0003]    2. Description of the Related Art 
         [0004]    People that own small animals have always had a need for a way to feed their animals when they are away. In the past, animal owners have had to rely on people to feed their animals, or place their animals in the care of a bet boarding facility. Both of those options can be prohibitively expensive for many people. In recent years, a large number of automatic style pet feeders have emerged into the marketplace. In particular, feeding units have been developed that use some type of timer to automatically dispense feed to an animal. While many of these types of feeders have features that allow animals to be fed in the absence of the owner, the currently available conventional feeders continue to have unresolved drawbacks. 
         [0005]    Specifically, many conventional feeders typically dispense food into a container that is external to the food storage area. In such a scenario, any uneaten food is subject to ant and other insect infestation, or the uneaten food may attract unwanted animals such as skunks, raccoons, and even other pets. Furthermore, any uneaten food may begin to spoil and cause unwanted odors, or be subject to spillage if accidentally bumped. 
       SUMMARY OF THE EMBODIMENTS 
       [0006]    Various embodiments of an automated animal feeding station are disclosed. Broadly speaking, in one embodiment, an automated animal feeding station includes a housing having a closable lid that is hingeably attached to the housing. The housing includes a removable liner that forms an interior surface having one or more feeding compartments. The lid is hingeably attached to the housing such that when closed, the lid forms a sealable cover over the opening. The animal feeding station may include a sealing surface that forms a seal to the lid such that when the lid is closed, air and moisture transfer between the interior and the exterior of the housing is reduced. The animal feeding station also includes motor unit that is mechanically coupled between the housing and the lid, and may be open and close the lid upon actuation by motor control signals provided by a programmable control unit. The control unit may operate the lid based upon a user-defined feeding schedule and an identification sensor. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0007]      FIG. 1A  is a perspective view drawing of one embodiment of an automated animal feeding station. 
           [0008]      FIG. 1B  is a perspective view drawing of the embodiment of the automated animal feeding station of  FIG. 1A  with the lid open. 
           [0009]      FIG. 1C  is a side view drawing of the embodiment of the automated animal feeding station of  FIG. 1A  and  FIG. 1B  with the lid open. 
           [0010]      FIG. 2A  is a perspective view drawing of another embodiment of an automated animal feeding station with the lid open. 
           [0011]      FIG. 2B  is a rear view drawing of the embodiment of the automated animal feeding station of  FIG. 2A  with the lid open. 
           [0012]      FIG. 2C  is a side view drawing of the embodiment of the automated animal feeding station of  FIG. 2A  with the lid open. 
           [0013]      FIG. 3  is a perspective view drawing of another embodiment of the automated animal feeding stations of  FIG. 1A  through  FIG. 2C . 
           [0014]      FIG. 4  is a side view drawing of another embodiment of an automated animal feeding station including a feed hopper. 
           [0015]      FIG. 5  is a block diagram of one embodiment of a control system for operating the animal feeding stations shown in  FIG. 1A  through  FIG. 4 . 
       
    
    
       [0016]    Specific embodiments are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the drawings and detailed description are not intended to limit the claims to the particular embodiments disclosed, even where only a single embodiment is described with respect to a particular feature. On the contrary, the intention is to cover all modifications, equivalents and alternatives that would be apparent to a person skilled in the art having the benefit of this disclosure. Examples of features provided in the disclosure are intended to be illustrative rather than restrictive unless stated otherwise. 
         [0017]    As used throughout this application, the word “may” is used in a permissive sense (i.e., meaning having the potential to), rather than the mandatory sense (i.e., meaning must). Similarly, the words “include,” “including,” and “includes” mean including, but not limited to. 
         [0018]    Various units, circuits, or other components may be described as “configured to” perform a task or tasks. In such contexts, “configured to” is a broad recitation of structure generally meaning “having circuitry that” performs the task or tasks during operation. As such, the unit/circuit/component can be configured to perform the task even when the unit/circuit/component is not currently on. In general, the circuitry that forms the structure corresponding to “configured to” may include hardware circuits. 
         [0019]    Similarly, various units/circuits/components may be described as performing a task or tasks, for convenience in the description. Such descriptions should be interpreted as including the phrase “configured to.” Reciting a unit/circuit/component that is configured to perform one or more tasks is expressly intended not to invoke 35 U.S.C. §112, paragraph six, interpretation for that unit/circuit/component. 
         [0020]    The scope of the present disclosure includes any feature or combination of features disclosed herein (either explicitly or implicitly), or any generalization thereof, whether or not it mitigates any or all of the problems addressed herein. Accordingly, new claims may be formulated during prosecution of this application (or an application claiming priority thereto) to any such combination of features. In particular, with reference to the appended claims, features from dependent claims may be combined with those of the independent claims and features from respective independent claims may be combined in any appropriate manner and not merely in the specific combinations enumerated in the appended claims. 
       DETAILED DESCRIPTION 
       [0021]    Turning now to  FIG. 1A , a perspective view drawing of one embodiment of an automated animal feeding station is shown. The animal feeding station  1  of  FIG. 1A  includes a housing  10  with a lid  15  that is attached to the housing via a hinge assembly  18 . As described further below, the hinge  18  allows the lid  15  to open and close using a variety of mechanisms that are described in more detail below in conjunction with the descriptions of  FIG. 1B  through  FIG. 2C . The animal feeding station  1  also includes a proximity sensor unit  39  and a control housing  12 . It is noted that although the housing  10  is shown as being rectangular/cuboid in shape, it is contemplated that in other embodiments the housing  10  may be formed into other shapes such as a cylinder for example. 
         [0022]    In various embodiments, the housing  10  may be constructed of a sturdy material such as stainless steel, or any of a variety of impact resistant plastics. Similarly, the lid  15  may also be made from these types of materials. Additionally, in one embodiment, the lid  15  may be made from a translucent or semi-translucent material such as polycarbonate or other type of resin based material that affords a person the ability to observe the contents of the feed station without opening the lid  15 . 
         [0023]    As mentioned above, the lid  15  is attached to the housing  10  using hinge  18  and any of a variety of well-known hinge techniques. The hinge  18  allows the lid  15  to pivot on an axis and to open and close securely. 
         [0024]    In one embodiment, the control housing  12  may include a display and one or more buttons (shown in  FIG. 3 ). The buttons and display may allow a user to program the feeding station and to observe different types of status information that is described further below. 
         [0025]    Referring to  FIG. 1B , a perspective view drawing of an embodiment of the automated animal feeding station  1  of  FIG. 1A  is shown with the lid open. It is noted that components corresponding to those shown in  FIG. 1A  are numbered identically for clarity and simplicity. As shown in  FIG. 1B , the lid  15  is in an open position. Accordingly, the interior space of the housing exposes two compartments  21  and  23 , as well as a push rod assembly  25  that is attached to the lid via hinge pin assembly  27 . As described in greater detail below, the push rod assembly  25  may facilitate automated opening and/or closing of the lid  15 . 
         [0026]    In one embodiment, the compartments  21  and  23  are formed by an insert  20  using material similar to that used to form the housing  10 . For example, stainless steel, or any of a variety of plastics may be used to form the insert  20 . As shown, the compartments  21  and  23  form hollowed out areas that store the animal feed and/or water. In addition to creating the two compartments, the insert  20  also creates hollow cavities on the underside that may be used to house the control electronics, power supply, sensors, motors, and other hardware (all not shown in  FIG. 1B ). It is noted that in other embodiments, the insert  20  may be formed to create other numbers of feed compartments as desired. 
         [0027]    As shown in  FIG. 1B , the area of the housing  10  that meets the lid  15  when the lid is closed forms a sealing type closure. More particularly, as shown in the exploded view of the housing  10 , the housing  10  has a groove therein which holds a gasket  11 . In various embodiments, the gasket  11  may be an O-ring made of rubber, silicone, or other type of soft sealing material. In one embodiment, the gasket  11  may be removable so that it may be cleaned and re-used, or replaced. In one embodiment, when the lid  15  is closed, the edge of the lid  13  mates with the gasket  11  to form an air-tight sealing surface. As such, the resultant seal may be reduce or prevent odors and liquids from escaping from the housing  10 , and it may prevent ingress by insect pests. 
         [0028]    Referring to  FIG. 1C , a side view drawing of an embodiment of the automated animal feeding station of  FIG. 1A  and  FIG. 1B  is shown with the lid open. It is noted that components corresponding to those shown in  FIG. 1A  and  FIG. 1B  are numbered identically for clarity and simplicity. As shown in  FIG. 1C , the lid  15  is in an open position and additional components are shown. More particularly, the push rod assembly  25  is coupled to a hinge block assembly  29  which is coupled to a mounting block  35 . In addition, the interior space includes a control unit  37  that is electrically coupled to a motor unit  31  via connection  38 . The motor unit  31  is coupled to the pushrod assembly  25  via a hose assembly  33 . 
         [0029]    In one embodiment, the motor unit  31  is a pneumatic drive motor that creates pneumatic pressure in the hose assembly  33  to force the pushrod assembly  25  to extend or retract. In such an embodiment, the pushrod assembly  25  may be a telescoping assembly that has a number of collapsible extension sections such when the lid  15  is closed the pushrod assembly  25  is collapsed sufficiently to be stored within a cavity between the feed compartments  21  and  23 . When the lid is fully opened the pushrod assembly  25  is sufficiently extended to open the lid  15 . In one embodiment, the lid  15  may be opened and closed under pressure. In such an embodiment, to prevent unintended injury to an animal, the proximity/identification (ID) sensor  39  may be used as a safety interlock that will not allow the lid to be closed if the animal&#39;s presence is detected using a variety of detection methods such as infrared or radio frequency detection, for example and as described in more detail below. In addition, the lid  15  may be pulled down sufficiently by the pushrod assembly  25  to form a seal with the gasket  11  on the housing. However, in another embodiment the lid  15  may be allowed to close under the force of gravity, after an initial pull from the pushrod assembly  25 . In such an embodiment, a lid latch as described below in conjunction with the description of  FIG. 2B  may be used to secure the lid  15  and form a seal in the closed position. 
         [0030]    As described in greater detail below in conjunction with the description of  FIG. 5 , the control unit  37  may include electronics to programmably control the operation of the animal feeding station  1 . More particularly, the control unit  37  may include a variety of processing circuits, power supply, sensor circuits, motor control circuits, wired and wireless communication circuits, and an interface to the control housing input unit  12 . 
         [0031]    Turning to  FIG. 2A , a perspective view drawing of another embodiment of an automated animal feeding station is shown with the lid open. It is noted that components corresponding to those shown in  FIG. 1A  and  FIG. 1C  are numbered identically for clarity and simplicity. As shown in  FIG. 2A , the lid  15  is in an open position. The housing  10  and the interior space are similar to that shown in the previous figures except there is no pushrod assembly  25 . Indeed, the animal feeding station  2  of  FIG. 2A  uses a different lid hinge assembly  19  which will be described in greater detail below in conjunction with the descriptions of  FIG. 2B . 
         [0032]    Referring to  FIG. 2B , a rear view drawing of the embodiment of the automated animal feeding unit of  FIG. 2A  is shown with the lid open. It is noted that components corresponding to those shown in  FIG. 2A  are numbered identically for clarity and simplicity. The animal feeding station  2  of  FIG. 2B  includes a motor unit  161  which includes a lid drive motor  271  and vacuum pump  261 . 
         [0033]    In one embodiment, the lid drive motor  271  is mechanically coupled to the lid  15  through the motor shaft. The shaft of the lid drive motor  271  may be fixed to the lid hinge assembly  19  in a variety of ways. For example, in one embodiment, a pin inserted through a hole in the shaft and the hinge  19  may secure the shaft to the hinge  19 , while in another embodiment, the shaft may be splined and fitted into the hinge  19 . Once the motor begins to turn the shaft rotates, which in turn opens and/or closes the lid  15  about an axis created by the hinge assembly  19 . In one embodiment, the lid drive motor  271  may be a DC stepper motor. It is noted that in embodiments that use a heavy lid, a gear box (not shown) may be used to improve the mechanical advantage of the motor shaft. 
         [0034]    Referring to  FIG. 2C , a side view drawing of the embodiment of the automated animal feeding station of  FIG. 2A  is shown with the lid open. It is noted that components corresponding to those shown in  FIG. 2A  and  FIG. 2B  are numbered identically for clarity and simplicity. The feeding station  2  includes a lid latch assembly  151 , a heating and cooling unit  281 , and a lid catch  147 . As shown, the control unit  37  is coupled to the heating and cooling module  281  and to the lid latch assembly  151 . 
         [0035]    In one embodiment, once the lid is closed, the lid latch assembly  151  engages the lid catch  147  to securely close the lid. In one embodiment, the lid latch assembly  151  may include an electrically actuated plunger having a linkage that engages and pulls the lid catch  147  down. In such an embodiment, the lid  15  is pulled down sufficiently to form a seal with the gasket  11  on the housing. 
         [0036]    In one embodiment, instead of, or in addition to the lid latch assembly  151 , once the lid is closed the control unit  37  may initiate a vacuum sequence to evacuate some of the air (to create lower than ambient air pressure) inside the housing  10 . Accordingly, as shown in  FIG. 2B  motor unit  161  also includes a vacuum pump  261  which may evacuate enough air from within the housing to reduce the atmospheric pressure. Doing so may prolong the life of the food in the food compartments. In addition, a vacuum within the housing  10  may make the lid more difficult to open either inadvertently, or by an animal. The control unit  37  may include a motor control unit (shown in  FIG. 5 ) which may operate the vacuum pump motor  261 . 
         [0037]    As described above in the embodiment of  FIG. 1C , the proximity/ID sensor  39  may be used to reduce the likelihood of injuring an animal by preventing the lid from closing under power when the sensor indicates the presence of the animal. 
         [0038]    In addition, to help preserve the food quality, the control unit  37  may also provide cooling and heating to the food compartments  21  and  23 . In one embodiment, the control unit  37  may monitor the temperature of the compartments, and may maintain a programmably preset temperature. In one embodiment, the control unit  37  may provide, for example, Peltier effect cooling via the heating and cooling module  281  to keep the food cool in warm months and heat strips to heat the feed compartments  21  and  23  to keep the food and water from freezing during cold months. 
         [0039]    To help prevent unwanted animals or other unauthorized pets from accessing the animal feed station, the feed station may use an ID technology such as radio frequency ID (RFID), for example. In such an embodiment, the proximity/ID sensor  39  may also be configured to interrogate and read an RFID device. Accordingly, a pet collar or other device having a tag with an RFID device may be placed on the animal. Alternatively, an RFID chip such as those implanted into the animal by veterinarians may be used. When the animal comes close enough (i.e., some programmable distance) to activate the RFID tag, and if the feed station has been programmed to open at that time, the control unit  37  may open the lid  15 . However, if the authorized animal leaves, or is forced to leave by, for example, another animal, the proximity/ID sensor  39  detects that the animal has left and the control unit  37  may close the lid  15 . As described above, to reduce the likelihood of injury to the animal the lid  15  may be prevented from closing when the proximity/ID sensor  39  detects the presence of the animal. 
         [0040]    It is noted that while the embodiments of  FIG. 1A  through  FIG. 1C  and  FIG. 2A  through  FIG. 2C  show specific examples of hinge assemblies, it is contemplated that in other embodiments other hinge assemblies may be used. 
         [0041]    Turning to  FIG. 3 , a perspective view drawing illustrating additional details of an embodiment of the automated animal feeding station of  FIG. 1A  through  FIG. 2C  is shown. In  FIG. 3 , the control housing  12  includes an audio speaker  410 , a microphone  415 , and a user interface  317 . In addition, the lid of animal feeding station includes a video camera  412 . 
         [0042]    The audio speaker  410  allows a user to play a prerecorded audio segment for the animal(s) that feed at the station. In addition, in embodiments that use a wireless or wired communication link as described further below, the speaker  410  allows a pet owner or other user to call in to the feed station and the speaker  410  to broadcast the user&#39;s voice. Similarly, the microphone  415  may allow a user record the ambient sound around the feed station, or to allow “live” listening by providing the ambient sound through a communication link via the communication link mentioned above. 
         [0043]    In one embodiment, the animal feeding station may be completely programmable. Accordingly, a user may program the unit to open and close, heat and cool, refill, and to initiate video and/or audio recording, and/or audio output based on a user selected schedule via the user interface  317 . As shown in the exploded view of  FIG. 3 , the user interface  317  includes a display, and a number of push buttons. The display may graphically display such information as the date, time, temperature, and whether the animal feeding station is in standby or actively feeding an animal, and any other status and programming information as desired. 
         [0044]    In various embodiments, the animal feeding station may include a communication link (shown in  FIG. 5 ). In one embodiment, the communication link may be hardwired through a phone line or a network connection such as an Ethernet connection, for example. In other embodiments, the communication link may be a wireless link established through a Bluetooth, WiFi, WiMax, or a cellular or other radio connection for example. In other embodiments, the animal feeding station may use both wired and wireless communication links, as desired. In embodiments that have the communication link, a user may connect with and operate the animal feeding station locally or remotely, or program the unit locally or remotely via the communication link. In addition, through the communication link a user may listen in through the microphone  415 , and/or talk to their animals via the speaker  410 . Further, the video camera  412  may allow a user to remotely view in real rime, the area surrounding the animal feeding station. The programmability also allows a user to record video at any time, but it may be useful to record video during programmed feeding times, for example. 
         [0045]    Referring to  FIG. 4 , a side view drawing of another embodiment of an automated animal feeding station including a feed hopper is shown. It is noted that components corresponding to those shown in  FIG. 1A  through  FIG. 2C  are numbered identically for clarity and simplicity. The animal feeding station is shown with a feed hopper  420 . The hopper  420  includes a cover  425  and a feed motor  410  whose shaft that is coupled to a feeding mechanism  411 . In one embodiment, the feed hopper  420  may be detachable from the housing  10 . In various embodiments, the housing  10  may be mated to the hopper  420  via a number of screws, or retaining tabs that lock the hopper  420  into position. 
         [0046]    In one embodiment, the hopper  420  may be filled with animal feed in the form of kibbles. The hopper  420  is shaped to have curved sides that slope toward a center aperture  440 , thereby allowing the kibbles to gravity feed into contact with the feeding mechanism  411 . When it is time to dispense food into the housing  10 , the shaft of the motor  410  begins to rotate. In one embodiment, the feeding mechanism  411  is formed into a spiral. The rotation of the motor shaft rotates the spiral feeding mechanism  411  and causes kibbles to be transported from the aperture in the hopper to the compartment  23  of the housing  10 . In the illustrated embodiment, the compartment  23  has a sloped bottom from the rear (right side in  FIG. 4 ) of the compartment  23  to the front. The slope may aid the dispensed kibble in being deposited across the bottom of the compartment  23 . In one embodiment, the feeding mechanism  411  is housed in a round tubular housing  475  which extends from the aperture  440  in the hopper  420  to another aperture in the rear wall of the compartment. 
         [0047]    In one embodiment, the motor  410  is controlled by the control unit  37 . In addition to programmably selecting a time to open and close the lid  15 , the animal feeding station may be programmed to dispense food into the compartment  23  from the hopper at predetermined intervals or in response to an immediate command entered by a user in real time. In one embodiment, the motor  410  may be coupled electrically to the control unit  37  via a cable and connector assembly (not shown). 
         [0048]    It is noted that a second dispenser (not shown) may be used to dispense water or other liquids in a similar way as the food into the other compartment (e.g., 21) using a second hopper (not shown). In such an embodiment, rather than a spiral drive feeding mechanism, a simple electronically actuated valve may be used to control dispensing of the liquids into the compartment. 
         [0049]    Turning to  FIG. 5 , a block diagram of one embodiment of a control unit for operating the animal feeding stations shown in  FIG. 1A  through  FIG. 4  is shown. The control unit  37  includes a processor/controller  510  coupled to an input/output (I/O) unit  515 . The processor  510  is also coupled to a memory unit  511  and to a programmer interface  512 . The I/O unit  515  is coupled to a number of sensor units and/or peripheral controllers. For example, the I/O unit  51  is coupled to a proximity/ID sensor  39 , a temperature sensor  524 , and a lid latch sensor  523 . The I/O unit  515  is coupled to a communication link unit  550 , a heating/cooling unit  590 , an audio/visual unit  585 , and a motor control unit  521 . As shown the control unit  37  also includes a power supply  580  that is coupled to provide power to all units. 
         [0050]    In one embodiment, the processor/controller  510  may include a processor core that may execute instructions. The instructions may be stored in the memory unit  511  and retrieved for execution by the processor/controller  510 . The processor/controller  510  may provide communication and control signals to the peripheral controllers and may receive sensor signals through the I/O unit  515 . 
         [0051]    In one embodiment, the I/O unit  515  may control handling and routing of messages and communications between components connected to the processor controller  510 . The I/O unit may include a number of buffers to facilitate communication link flow control. 
         [0052]    In one embodiment, the proximity/ID sensor  39  may include an infrared sensor, and a radio frequency transmitter/receiver. The proximity sensor may be configured to detect the presence of any object, and in particular it may further be configured to identify a specific object such as, for example, an object having a corresponding RFID tag or module. In one embodiment, the proximity sensor  39  may send information to the processor/controller  510  for processing. In other embodiments, the proximity sensor may be relatively self-contained and only send conformation information such as go/no-go information. The proximity/ID sensor  39  may be programmed via the program interface  512 , which may be coupled to the user interface  317 . 
         [0053]    The temperature sensor  524  may be used in conjunction with the cooling/heating module  590  to provide feedback to the cooling/heating module  590  during heating and/or cooling operations. The temperature sensor  524  may also provide a temperature indication to the user interface  315 . 
         [0054]    The lid latch sensor  523  may be configured to detect when the lid is fully closed and latched. The lid latch sensor  523  may provide a signal when the lid is latched. In one embodiment, his signal may allow the vacuum motor  261 , cooling/heating module  590 , and the heating/cooling module  281 , for example, to be enabled. In addition, the absence of this signal when it is supposed to be present may cause the processor/controller  510  to provide a trouble indication to the user interface  317 , as well as to the communication link unit  550 . 
         [0055]    The audio/visual unit  585  may be configured to control the camera  412 , the microphone  415 , and the speaker  410  as described above. Accordingly, the audio/visual unit  585  may include digital and analog audio circuits to facilitate recording and playback of both audio and video. 
         [0056]    In one embodiment, the motor control unit  521  may provide control signals to the lid drive motor  271  and the vacuum motor  261  during operation. 
         [0057]    As mentioned above, the cooling/heating unit  590  may control the heating cooling module  281  of  FIG. 2C  to provide heating and cooling within the feeding compartments  21  and  23 . In one embodiment, the cooling/heating unit  590  may provide source and/sink current, as well as control signals to the heating and cooling module  281 . 
         [0058]    The communication unit  550  may communicate wirelessly via an antenna  551  and via a wired communication link. More particularly, communication link unit  550  may communicate wirelessly via any of a variety of wireless protocols as described above. The antenna  551  may be positioned anywhere within the housing  10 , as desired. In wired communication, the communication link may implement any of a variety of communication protocols such as Ethernet, universal serial bus (USB), Firewire™, and the like. 
         [0059]    In one embodiment, the power supply  580  may be an alternating current (AC) to direct current (DC) converter. Accordingly, the animal feeding station may be powered by AC electricity either at 110V or 220V nominal. The power supply  580  may convert the AC voltage to a DC voltage of any suitable value for use by the control unit  37 . In other embodiments, the power supply may accommodate battery operation. Thus the animal feeding station may be operated when AC power is unavailable. 
         [0060]    The memory  511  may include any type of memory. For example, the memory  511  may be in the DRAM family such as synchronous DRAM (SDRAM), double data rate (DDR, DDR2, DDR3, etc.), or any low power version thereof. However, memory  511  may also be implemented in SDRAM, static RAM (SRAM), or other types of RAM, etc. The memory  511  may be programmed using the programmer interface  512 . 
         [0061]    It is noted that various portions of each of the embodiments described above may be combined together, or omitted as desired. 
         [0062]    Although the embodiments above have been described in considerable detail, numerous variations and modifications will become apparent to those skilled in the art once the above disclosure is fully appreciated. It is intended that the following claims be interpreted to embrace all such variations and modifications.