Sensor assembly cover lock

A vehicle includes an exterior body panel and a sensor assembly supported by the exterior body panel. The sensor assembly includes an image sensor and a cover being moveable to an assembled position at least partially enclosing the image sensor. A pressure sensor is activated by the cover in the assembled position. A lock releasably connects the cover to the exterior body panel and is actuatable framed on the pressure sensor.

BACKGROUND

Autonomous vehicles include a variety of sensors. Some sensors detect internal states of the vehicle, for example, wheel speed, wheel orientation, and engine and transmission variables. Some sensors detect the position or orientation of the vehicle, for example, global positioning system (GPS) sensors; accelerometers such as piezo-electric or microelectromechanical systems (MEMS); gyroscopes such as rate, ring laser, or fiber-optic gyroscopes; inertial measurements units (IMU); and magnetometers. Some sensors detect the external world, for example, radar sensors, scanning laser range finders, light detection and ranging (LIDAR) devices, and image processing sensors such as cameras. A LIDAR device detects distances to objects by emitting laser pulses and measuring the time of flight for the pulse to travel to the object and back. Some sensors are communications devices, for example, vehicle-to-infrastructure (V2I) or vehicle-to-vehicle (V2V) devices.

DETAILED DESCRIPTION

A vehicle includes an exterior body panel, a sensor assembly supported by the exterior body panel and including an image sensor, the sensor assembly including a cover being movable to an assembled position at least partially enclosing the image sensor, a pressure sensor activated by the cover in the assembled position, and a lock releasably connecting the cover to the exterior body panel and actuatable based on the pressure sensor.

The cover may include two side panels spaced from each other and a top panel partially overlapping each side panel. The lock may be between the top panel and the exterior body panel.

The sensor assembly may include a frame mounted to the exterior body panel. The lock may releasably connect the top panel to the frame.

The pressure sensor may be compressed between the top panel and at least one side panel in the assembled position.

The sensor assembly may include a frame mounted to the exterior body panel. The lock may releasably connect the cover to the frame in the assembled position.

The vehicle may include a processor and a memory storing instructions executable by the processor to actuate the lock as a result of the pressure sensor being activated by the cover.

The instructions may further include instructions to upon authenticating a controller, unlock the lock as a result of receiving a message from the controller.

The lock may be a lock including a magnetic surface and an electromagnet releasably engageable with the magnetic surface.

The magnetic surface may be supported by one of the cover and the exterior body panel and the electromagnet may be supported by the other of the cover and the exterior body panel.

The electromagnet may be magnetized in an absence of electric current and demagnetized in a presence of electric current.

A sensor assembly includes a frame, an image sensor and a cover being movable to an assembled position at least partially enclosing the image sensor, a pressure sensor activated by the cover in the assembled position, and a lock releasably connecting the cover to the frame and actuatable based on the pressure sensor.

The cover may include two side panels spaced from each other and a top panel partially overlapping each side panel. The lock may be between the top panel and the frame.

The lock may releasably connect the top panel to the frame.

The pressure sensor may be compressed between the top panel and at least one side panel in the assembled position.

The lock may be a lock including a magnetic surface and an electromagnet releasably engageable with the magnetic surface.

The magnetic surface may be supported by one of the cover and the frame and the electromagnet may be supported by the other of the cover and the frame.

The electromagnet may be magnetized in an absence of electric current and demagnetized in a presence of electric current.

A system includes a computer including a processor and a memory, the memory storing instructions executable by the processor to determine a cover of a sensor assembly is positioned to at least partially enclose an image sensor based on a message from a pressure sensor, the sensor assembly is supported by an exterior body panel of a vehicle, and then actuate a lock to fix the cover relative to the exterior body panel.

The instructions may further include instructions to, upon authenticating a controller, unlock the lock as a result of receiving a message from the controller.

The lock may be a lock including a magnetic surface and an electromagnet releasably engageable with the magnetic surface.

With reference to the Figures, wherein like numerals indicate like parts throughout the several views, a vehicle10is generally shown. The vehicle10includes an exterior body panel12and a sensor assembly14supported by the exterior body panel12. The sensor assembly14includes one or more sensors26, including an image sensor16, and a cover18being moveable to an assembled position at least partially enclosing the image sensor16. A pressure sensor20is activated by the cover18in the assembled position. A lock22releasably connects the cover18to the exterior body panel12and is actuatable based on the pressure sensor20.

The cover18may be moveable from an unassembled position, as shown inFIG.3, to an assembled position, as shown inFIGS.1,2&4. In the unassembled position, the cover18permits access to one or more sensors26including the image sensor16, e.g., to authorized persons to perform service and/or maintenance on the one or more sensors16,26. In the assembled position, the cover18prevents access to the one or more sensors26including the image sensor16. For example, the cover18in the assembled position at least partially encloses the one or more sensors26such that the cover18in the assembled position prevents access to connections of the one or more sensors26, including the image sensor16. Further, the cover18in the assembled position prevents the one or more sensors26, including the image sensor16, from being removed from the sensor assembly14. The pressure sensor20detects the cover18in the assembled position and actuates the lock22to fix the cover18to the vehicle10. By fixing the cover18to the vehicle10, the lock22prevents the cover18from being moved from the assembled position to the unassembled position, which prevents unauthorized persons from accessing the one or more sensors26, including the image sensor16.

With reference toFIG.1, the vehicle10may be any passenger or commercial automobile such as a car, a truck, a sport utility vehicle, a crossover, a van, a minivan, a taxi, a bus, etc.

The vehicle10may be an autonomous vehicle. A computer24can be programmed to operate the vehicle10independently of the intervention of a human driver, completely or to a lesser degree. The computer24may be programmed to operate propulsion, brake system, steering, and/or other vehicle systems based at least in part on data received from the one or more sensors26including the image sensor16. For the purposes of this disclosure, autonomous operation means the computer24controls the propulsion, brake system, and steering without input from a human driver; semi-autonomous operation means the computer controls one or two of the propulsion, brake system, and steering and a human driver controls the remainder; and nonautonomous operation means a human driver controls the propulsion, brake system, and steering.

The vehicle10includes a body28. The vehicle10may be of a unibody construction, in which a frame and the body28of the vehicle10are a single component. The vehicle10may, as another example, be of a body-on-frame construction, in which the frame supports the body28that is a separate component from the frame. The frame and body28may be formed of any suitable material, for example, steel, aluminum, etc.

With reference toFIG.1, the body28includes one or more exterior body panels12partially defining an exterior of the vehicle10. The exterior body panels12may present a class-A surface, e.g., a finished surface exposed to view by a customer and free of unaesthetic blemishes and defects. The exterior body panels12include, e.g., a roof, etc.

With continued reference toFIG.1, the sensor assembly14is attachable to the vehicle10, e.g., to one of the exterior body panels12of the vehicle10, e.g., the roof. For example, the sensor assembly14may be shaped to be attachable to the roof, e.g., may have a shape matching a contour of the roof. The sensor assembly14may be attached to the roof, which can provide the image sensors16,26with an unobstructed field of view of an area around the vehicle10. The sensor assembly14may be formed of, e.g., plastic or metal.

With reference toFIG.3, the sensor assembly14includes a frame30and the cover18attachable to the frame30. The frame30may be directly attached to the roof of the vehicle10by, e.g., welding, fasteners, etc. For example, the frame30may have a bottom surface matching a contour of the roof. In the assembled position, the cover18prevents access to the connection between the frame30and the roof of the vehicle10. That is, the cover18covers the frame in the assembled position. The cover18may enclose and define a cavity32when the cover18is in the assembled position. The frame30partially defines the cavity32. In other words, the cover18and the frame30define the cavity32therebetween. In the unassembled position, the cover18permits access to the connection between the frame30and the roof of the vehicle10. That is, the lock22must be unlocked by an authorized person to gain access to the cavity32. In other words, the lock22and the cover18assist to deter theft and/or tampering of components covered by the cover18in the assembled position. The cover18may shield contents of the cavity32from external elements such as wind, rain, debris, etc.

The cover18may include a plurality of panels34,36engageable from the unassembled position to the assembled position. In the unassembled position, the panels34,36are disengaged from each other, as shown inFIG.3. In other words, the panels34,36are spaced from each other and moveable relative to each other. In the assembled position, the panels34,36are engaged with each other, i.e., fixed relative to each other, as shown inFIG.1. For example, the cover18may include two side panels34spaced from each other and a top panel36partially overlapping each side panel34in the assembled position, as shown in the Figures. In such an example, each panel may include a flange50extending at least partially along a perimeter of the respective panel. The flange50of the top panel36overlaps and abuts the flanges50of each side panel34in the assembled position, as shown inFIG.4. In other words, the top panel36partially covers the side panels34. By overlapping the flange50of each side panel34, the flange50of the top panel36prevents the side panels34from being removed when the cover18is in the assembled position. Additionally, or alternatively, the top panel36may be fixed to the side panels34by fasteners such as screws, bolts, etc. The panels34,36may be fixed to the frame30when the cover18is in the assembled position in any suitable manner, e.g., fasteners, clips, etc.

The cover18may include apertures38, as shown in the Figures. The apertures38are holes in the panels34,36leading from the cavity32into the ambient environment. The apertures38are through the top panel36and the side panels34. The apertures38may be any suitable shape, e.g., circular. The cover18includes one aperture for each image sensor26,16. Each image sensor26,16has a field of view received through the respective aperture38. For example, the sensors26may extend into the respective apertures38. In such an example, the aperture38may be concentric about a portion of the sensor26. Alternatively, the aperture38may include a covering extending across the aperture38. The covering may protect the sensor26from external elements such as wind, rain, debris, etc. In such an example, the covering may be transparent. In other words, the covering does not obstruct the field of view of the sensor26. For example, the covering may be glass, plastic, acrylic, etc.

The sensor assembly14may include a plurality of sensors including the image sensor16and the sensors26, as shown inFIGS.2-4. The image sensors16,26may detect the location and/or orientation of the vehicle10. For example, the image sensors16,26may include global positioning system (GPS) sensors; accelerometers such as piezo-electric or microelectromechanical systems (MEMS); gyroscopes such as rate, ring laser, or fiber-optic gyroscopes; inertial measurements units (IMU); and magnetometers. The image sensors16,26may detect the external world, e.g., objects and/or characteristics of surroundings of the vehicle10, such as other vehicles, road lane markings, traffic lights and/or signs, pedestrians, etc. For example, the image sensors16,26may include radar sensors, scanning laser range finders, light detection and ranging (LIDAR) devices, and image processing sensors such as cameras. The image sensors16,20,26may include communications devices, for example, vehicle-to-infrastructure (V2I) or vehicle-to-vehicle (V2V) devices.

With reference toFIGS.2and3, the sensors26are disposed in the cavity32. The sensors26may be cameras arranged to collectively cover a 360° horizontal field of view. The sensors26may be attached to the frame30in the cavity32, which in turn is directly attached to the roof. Each sensor26has a field of view through the respective aperture, and the field of view of one sensor26may overlap the fields of view of the sensors26that are circumferentially adjacent to one another, i.e., that are immediately next to each other.

The image sensor16protrudes upward from the cover18, as shown inFIGS.1and3. The image sensor16may be a camera, a LIDAR device, a radar sensor, etc. The image sensor16is disposed above the frame30to have an unobstructed 360° horizontal field of view. For example, the image sensor16may be supported by the cover18, e.g., the top panel36. In this situation, the image sensor16may extend at least partially through the cover18into the cavity32. The image sensor16may be fixed relative to the cover18in the cavity. For example, the cover18, e.g., the top panel36, may partially overlap the image sensor16such that when the cover18is in the assembled position, the cover18, e.g., the top panel36, compresses a portion of the image sensor16against the frame30. As another example, the image sensor16may be fixed to the cover18, e.g., the top panel36, by, e.g., fasteners, clips, etc., in the cavity32. In other words, the cover18in the assembled position prevents the image sensor16from moving relative to the frame30. An authorized person may unlock the lock22, as described below, to move the cover18to the unassembled position and obtain access to the image sensor16. The image sensor16is positioned laterally, i.e., along a left-right dimension relative to the vehicle10, in a middle of the vehicle10. The image sensor16has a cylindrical shape defining an axis that is oriented substantially vertically.

The pressure sensor20is supported by one panel, e.g., the top panel36, of the cover18. Specifically, the pressure sensor20is fixed to the flange50of the one panel, e.g., the top panel36, as shown inFIG.3. The pressure sensor20is compressed between the top panel36and at least one side panel34in the assembled position, as shown inFIG.4. For example, the pressure sensor20may be compressed between the flange50of the top panel36and the flange50of one side panel34in the assembled position. As set forth above, the pressure sensor20is activated by the cover18in the assembled position. In other words, the pressure sensor20detects the cover18in the assembled position. That is, the pressure sensor20detects a compressive force between the top panel36and at least one side panel34when the cover18is in the assembled position. In these circumstances, the pressure sensor20generates a message indicating the cover18is in the assembled position. The pressure sensor20may be attached to the respective flange50in any suitable manner, e.g., fasteners, adhesive, etc.

The sensor assembly14may include any suitable number of pressure sensors20. For example, the sensor assembly14may include a plurality of pressure sensors20, as shown inFIGS.3and4. In such an example, the sensor assembly14may, for example, include at least one pressure sensor20attached to the flange50of each side panel34. Additionally, or alternatively, the sensor assembly14may include two or more pressure sensors20attached to the flange50of the top panel36. In these circumstances, each pressure sensor20may, for example, be compressed between the flange50of the top panel36and the flange50of one respective side panel34when the cover18is in the assembled position. As another example, the sensor assembly14may include one pressure sensor20. In such an example, the pressure sensor20may be fixed to the flange50of the top panel36. The pressure sensor20may, for example, extend along the flange50of the top panel36from one side panel34to the other side panel34. In these circumstances, the pressure sensor20may be compressed between the top panel36and each side panel34when the cover18is in the assembled position.

The lock22is actuatable from an unlocked position to a locked position. In the unlocked position, the lock22permits relative movement between the cover18and the exterior body panel12, i.e., the frame30. In the locked position, the lock22restricts relative movement between the cover18and the exterior body panel12, i.e., the frame30. In other words, in the locked position, the lock22fixes the cover18relative to the exterior body panel12, i.e., the frame30.

The lock22is between the cover18and the exterior body panel12. In particular, the lock22is between the cover18and the frame30of the sensor assembly14, as shown inFIG.2. For example, the lock22may be between the top panel36and the frame30. That is, the lock22releasably connects the cover18, e.g., the top panel36, to the frame30of the sensor assembly14. The lock22may include locking elements40,42releasably engageable with each other. One locking element40is supported by the exterior body panel12and the other locking element42is supported by the cover18. In the locked position, the locking elements40,42are fixed to each other. In the locked position, the locking elements40,42are engaged in the cavity32. That is, the cover18conceals. i.e., shields from view, the engagement between the locking elements40,42from the external environment when the cover18is in the assembled position. By concealing the engagement of the locking elements40,42, the cover18in the assembled position may assist in deterring tampering of the lock22in the locked position. In the unlocked position, the locking elements40,42are moveable relative to each other.

The lock22may be any suitable type of lock. For example, the lock22may be a magnetic lock, as shown in the Figures. In such an example, the locking elements40,42of the lock22may include a magnetic surface and an electromagnet releasably engageable with the magnetic surface. The magnetic surface may be supported by one of the cover18and the exterior body panel12, and the electromagnet may be supported by the other of the cover18and the exterior body panel12. For example, the electromagnet may be fixed to the frame30of the sensor assembly14and the magnetic surface may be fixed to the cover18, e.g., the top panel36, as shown inFIG.2. As another example, the magnetic surface may be fixed to the frame30of the sensor assembly14, and the electromagnet may be fixed to the cover18. As yet another example, the electromagnet may be fixed to the exterior body panel12and the magnetic surface may be fixed to the cover18. The magnetic surface may be any suitable material that is magnetic, e.g., nickel, cobalt, iron, etc.

The electromagnet produces a magnetic field based on electric current. For example, the electromagnet may be magnetized by an absence of electric current and demagnetized in the presence of electric current. In other words, the electromagnet may produce a magnetic field when no electric current is provided to the electromagnet and may not produce a magnetic field when electric current is provided to the electromagnet. When the electromagnet is magnetized, the magnetic surface is magnetically attracted to the electromagnet. In this situation, the magnetic surface is fixed relative to the electromagnet, i.e., the lock22is in the locked position. When the electromagnet is demagnetized, the magnetic surface is not magnetically attracted to the electromagnet. In this situation, the magnetic surface is moveable relative to the electromagnet, i.e., the lock22is in the unlocked position.

As another example, the lock22may be a mechanical lock, e.g., a solenoid (not shown). In such an example, the locking elements40,42of the lock22may include a pin and a hole. The lock22may include circuits, chips, actuators, etc. configured to move the lock22from the unlocked position to the locked position, e.g., in response to a command from the computer24. The lock22may transmit a message to the computer24indicating whether the lock22is in the locked position or the unlocked position.

The sensor assembly14may include any suitable number of locks22. For example, the sensor assembly14may include a plurality of locks22spaced from each other. In such an example, the locks22may be spaced from each other any suitable amount, e.g., evenly spaced around the cover18. As another example, the sensor assembly14may include one lock22. In such an example, the lock22may be disposed at any suitable position around the cover18, e.g., in a position such that the lock22faces in a vehicle forward direction.

The vehicle10may include a communication network44. The communication network44includes hardware, such as a communication bus, for facilitating communication among vehicle components, such as the sensors16,20,26, the computer24, the lock22, etc. The communication network44may facilitate wired or wireless communication among the vehicle components in accordance with a number of communication protocols such as controller area network (CAN), Ethernet, WiFi, Local Interconnect Network (LIN), and/or other wired or wireless mechanisms

The computer, implemented via circuits, chips, or other electronic components, is included in the vehicle10for carrying out various operations, including as described herein. The computer is a computing device that generally includes a processor and a memory, the memory including one or more forms of computer-readable media and storing instructions executable by the processor for performing various operations, including as disclosed herein. The computer may be programmed by storing instructions on the memory that are executable by the processor.

The memory further generally stores remote data received via various communications mechanisms; e.g., the computer is generally configured for communications on a controller area network (CAN) bus or the like, and/or for using other wired or wireless protocols, e.g., Bluetooth, etc. The computer may also have a connection to an onboard diagnostics connector (OBD-II). Via the communication network44, Ethernet, WiFi, CAN bus, Local Interconnect Network (LIN), and/or other wired or wireless mechanisms, the computer may transmit messages to various devices in the vehicle10and/or receive messages from the various devices, e.g., the sensors16,20,26, etc. Although one computer is shown for ease of illustration, it is to be understood that the computer could include, and various operations described herein could be carried out by, one or more computing devices.

With reference toFIG.5, the vehicle10may include a locking system48including the pressure sensor20, the lock22, the computer24, and a controller46. The controller46may be a conventional computing device, i.e., including one or more processors and one or more memories, programmed to provide operations such as disclosed herein. The controller46is coupled to the vehicle communications network44and can send and/or receive messages to/from the computer and other vehicle sub-systems. For example, the controller46is programmed to transmit a message to the computer24requesting actuation of the lock22to the unlocked position. That is, a user may request to unlock the lock22via the controller46.

The controller46may be supported by the vehicle10or separate from the vehicle10. For example, the controller46may be a key fob that is moveable relative to the vehicle10. The key fob includes an input device such as a button that can receive input from the user. As another example, the controller46may be a human machine interface of the vehicle10. The human-machine interface (HMI) includes input devices such as knobs, buttons, switches, touch screens, microphones, etc. that can receive input from a user. Upon receiving the user input, the controller46may transmit a message to the computer indicating the user input, e.g., a request to unlock the lock22.

To prevent an intruder computer from unlocking the lock22, the computer may be programmed to authenticate the controller46. The computer may be programmed to perform an authentication based on a key, e.g., a combination of numbers and/or characters, received from the controller46upon communicating with the computer. In another example, the computer may be programmed to receive, from the controller46, a request including an access code, e.g., a secret code known to certain parties such as vehicle distributors, e.g., dealers, for unlocking the lock22. The computer may actuate the lock22to the unlocked position upon determining that the received access code matches an expected access code, e.g., based on stored information in the computer. In such an example, the access code may be manually entered by the user, e.g., via a touchscreen display, or transmitted from, e.g., a key fob for the vehicle10.

Authentication of a digital communication or message as discussed herein means implementing a scheme for determining an authenticity (or lack thereof) of the communication or message, e.g., a message from the controller46to the computer requesting to unlock the lock22. Various known techniques such as an authentication signature (or digital signature) may be used for authentication. A valid authentication signature included in a received message may give the computer a reason to conclude that the message was created by a known sender, e.g., a known controller46.

The computer24may be programmed to actuate the lock22from the unlocked position to the locked position, and vice versa. For example, the computer24may transmit commands to the lock22, e.g., via the vehicle communications network44, instructing actuation of the lock22to the locked position or the unlocked position.

The computer24may actuate the lock22from the unlocked position to the locked position, e.g., to fix the cover18relative to the exterior body panel12, when the cover18is in the assembled position. The computer24can determine the cover18is in the assembled position as a result of the pressure sensor20being activated by the cover18. For example, when the cover18is in the assembled position, the pressure sensor20is activated and transmits a message indicating the cover18is in the assembled position to the computer24. Upon receiving the message, the computer24actuates the lock22to the locked position. For example, the computer24can instruct an actuator (not shown) to open a circuit (not shown) to stop providing electric current to the lock22, which magnetizes the electromagnet.

The computer24may actuate the lock22from the locked position to the unlocked position, e.g., to permit removal of the cover18from the sensor assembly14, as a result of receiving a message from the controller46to unlock the lock22. Upon receiving the message from the controller46, the computer24may authenticate the controller46, as described above. In the case the controller46is authenticated, the computer24actuates the lock22to the unlocked position. For example, the computer can instruct an actuator to close the circuit to provide electric current to the lock22, which demagnetizes the electromagnet. Otherwise, the computer maintains the lock22in the locked position.

FIG.6is a process flow diagram illustrating an exemplary process600for controlling the lock22of the sensor assembly14, in particular locking and unlocking the lock22. The memory of the computer stores executable instructions for performing the steps of the process600. As a general overview of the process600, the computer24locks the lock22when the cover18is in the assembled position and unlocks the lock22when a controller46sends a message to unlock the lock22.

The process600begins in a block605, in which the computer24determines whether the cover18is in the assembled position. The pressure sensor20is activated when the cover18is in the assembled position. That is, the pressure sensor20is compressed between at least two panels34,36of the cover18. When the pressure sensor20is activated, the pressure sensor20transmits a message to the computer24indicating the cover18is in the assembled position. In the case that the computer24receives the message from the pressure sensor20, the computer determines the cover18is in the assembled position. Otherwise, the computer24determines the cover18is in the unassembled position. If the cover18is in the assembled position, the process600continues in a block610. Otherwise, the process600remains in the block605.

In the block610, the computer24locks the lock22. For example, the computer24can transmit a command to the actuator to open the circuit to stop providing electric current to the lock22, which magnetizes the electromagnet. As another example, the computer24can transmits a command to the lock22instructing actuation to the locked position. In this situation, the lock22prevents relative movement between the cover18and the frame30, i.e., the exterior body panel12. The process600continues in a block615.

In the block615, the computer24determines whether a message requesting to actuation of the lock22to the unlocked position has been received, e.g., from the controller46. Upon determining that such a message has been received, the process600continues in a block620. Otherwise, the process600remains in the block615.

In the block620, the computer24determines whether the controller46is authenticated. The computer24authenticates the controller46, e.g., by verifying an access code. Upon authenticating the controller46, the process600continues in a block625. Otherwise, the process600returns to the block615.

In the block625, the computer24unlocks the lock22. For example, the computer24can transmit a command to the actuator to close the circuit to provide electric current to the lock22, which demagnetizes the electromagnet. As another example, the computer24can transmit a command to the lock22instructing actuation to the unlocked position. In this situation, the lock22permits relative movement between the cover18and the frame30, i.e., the exterior body panel12. The process600may end after the block635. Alternatively, the process600may return to the block605.

Dataframes, data repositories or other data stores described herein may include various kinds of mechanisms for storing, accessing, and retrieving various kinds of data, including a hierarchical dataframe, a set of files in a file system, an application dataframe in a proprietary format, a relational dataframe management system (RDBMS), a nonrelational dataframe (NoSQL), a graph dataframe (GDB), etc. Each such data store is generally included within a computing device employing a computer operating system such as one of those mentioned above, and are accessed via a network in any one or more of a variety of manners. A file system may be accessible from a computer operating system, and may include files stored in various formats. An RDBMS generally employs the Structured Query Language (SQL) in addition to a language for creating, storing, editing, and executing stored procedures, such as the PL/SQL language mentioned above.

In the drawings, the same reference numbers indicate the same elements. Further, some or all of these elements could be changed. With regard to the media, processes, systems, methods, heuristics, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes could be practiced with the described steps performed in an order other than the order described herein. It further should be understood that certain steps could be performed simultaneously, that other steps could be added, or that certain steps described herein could be omitted.

The disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. “Substantially” as used herein means that a dimension, time duration, shape, or other adjective may vary slightly from what is described due to physical imperfections, power interruptions, variations in machining or other manufacturing, etc. The adjectives “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” are used throughout this document as identifiers and are not intended to signify importance or order. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the disclosure may be practiced otherwise than as specifically described.