Operating device for an order-picking apparatus

An operating device for an order-picking apparatus, the operating device having a delivery table with two opposite slotting and picking sides and two longitudinal sides. A transport channel for accommodating picked items extends between the slotting and picking sides along a first horizontal direction. Two clamping jaws define a lateral delimitation of the transport channel. A pusher device having a drive for moving a section of the pusher device along the first horizontal direction has a driver coupled with the drive, so the driver is movable into and out of the transport channel. The driver is also movable in the transport channel along the first horizontal direction so that the picked items are movable out of the transport channel by way of a slotting and picking side.

BACKGROUND

The disclosed embodiments relate to an operating device for an order-picking apparatus and in particular to an operating device for an order-picking apparatus having storage locations disposed opposite one another.

In many medical treatment settings, it is desirable to provide an operating device for order-picking apparatuses for automatic slotting and picking of individual items, particularly medication packages. For example, an operating device that is able to slot individual items into storage locations in types of storage oriented in different ways, by way of opposite face sides, and to remove such items from such locations.

SUMMARY

The disclosed embodiments provide an operating device for an order-picking apparatus having storage locations disposed opposite one another. The operating device preferably includes a delivery table having two opposite slotting and picking sides and two longitudinal sides, wherein a transport channel configured to accommodate at least one individual item extends between the slotting and picking sides along a first horizontal direction. The operating device also preferably includes two elongated clamping jaws disposed above the delivery table, the elongated clamping jaws having planar clamping surfaces that face one another, the surfaces defining a lateral delimitation of the transport channel in at least one or more sections, wherein the elongated clamping jaws are coupled with a first drive unit and are configured to be movable jointly along the first horizontal direction, and wherein the elongated clamping jaws are coupled with a second drive unit and configured to be movable along a second horizontal direction transverse to the first horizontal direction, in one of a direction toward one another and away from one another, so that at least one individual item is configured to be holdable between the clamping surfaces and movable along the first horizontal direction. The operating device further includes at least one pusher device comprising a first drive for moving a section of the pusher device along the first horizontal direction, wherein the pusher device has a first driver coupled with the drive, the first driver configured to be movable at least partially into the transport channel and removable from the transport channel, and wherein the first driver is configured to be movable in the transport channel, along the first horizontal direction, so that the at least one individual item is movable out of the transport channel by one of the slotting and picking sides in at least one or more sections of the transport channel.

The disclosed embodiments also provide an order-picking apparatus that includes a plurality of storage locations disposed opposite one another. The order-picking apparatus also includes an operating device having a delivery table having two opposite slotting and picking sides and two longitudinal sides, wherein a transport channel for accommodating at least one individual item extends between the slotting and picking sides along a first horizontal direction. The operating device further includes a plurality of clamping jaws disposed above the delivery table, the clamping jaws each having planar clamping surfaces, the clamping surfaces of one clamping jaw configured to face the clamping surfaces of at least one other clamping jaw, the surfaces defining a lateral delimitation of the transport channel in at least one or more sections, wherein the clamping jaws are coupled with a first drive unit and are configured to be movable jointly along the first horizontal direction, and wherein the clamping jaws are coupled with a second drive unit and configured to be movable along a second horizontal direction transverse to the first horizontal direction, wherein the clamping surfaces are configured to hold and move at least one individual item in the first horizontal direction. The operating device also includes at least one pusher device comprising a first drive for moving a section of the pusher device along the first horizontal direction, wherein the pusher device has a first driver coupled with the drive, the first driver configured to be movable at least partially into the transport channel and at least partially out of the transport channel, and wherein the first driver is configured to be movable along the first horizontal direction in the transport channel, wherein in at least one or more sections of the transport channel one of the slotting and picking sides is configured to move at least one individual item out of the transport channel.

The disclosed embodiments also provide a method for picking and slotting individual items from a plurality of storage locations disposed opposite one another. The method includes storing individual items in shelf units having storage locations disposed opposite one another. The method further includes picking, by two or more clamping jaws, an individual item from a storage location on one slotting and picking side of a delivery table. The method also includes pulling, by the clamping jaws, the picked item from the storage location onto the delivery table. The method further includes pushing, by a driver of a pushing device within a transport channel, the picked item to a delivery position on the delivery table. The method also includes pushing, by the driver of the pushing device within the transport channel, the picked item off of the delivery table to one of a storage location or a delivery channel.

The foregoing and other features, aspects and advantages of the disclosed embodiments will become more apparent from the following detailed description and accompanying drawings.

DETAILED DESCRIPTION

It is to be understood that the present disclosure includes examples of the subject technology and does not limit the scope of the appended claims. Various aspects of the subject technology will now be disclosed according to particular but non-limiting examples. Various embodiments described in the present disclosure may be carried out in different ways and variations, and in accordance with a desired application or implementation.

Within the scope of this application, the term “individual item” is regularly used, with this formulation intended to also include the plural. For example, in using the operating device an individual item or a plurality of individual items may be simultaneously slotted and picked.

An operating device for slotting and picking of block-shaped small individual items (e.g., medication packages) is typically configured so that individual items can be picked from storage locations on horizontal, long shelves and stored on them. The shelves, together with shelf walls disposed at specific intervals, form a shelf unit having a plurality of storage locations. Multiple storage locations disposed one behind the other and/or next to one another form a virtual shelf compartment.

To pick an individual item from a predetermined storage location, the typical operating device is moved in the vertical and horizontal direction, in front of the front side of the shelf compartment having the corresponding storage location, and positioned in front of the shelf with its face side. As soon as the operating device has been positioned, clamping jaws are moved into the shelf compartment and then moved toward one another, so that the individual item is clamped between the clamping jaws. The clamping jaws, with the individual item clamped between them, are then moved back out of the shelf compartment, with the individual item being pulled onto a delivery table of the operating device. If multiple individual items disposed one behind the other in a shelf compartment are supposed to be picked from multiple storage locations, the clamping jaws must be moved further into the shelf compartment, accordingly, with picking of multiple individual items making certain demands on the dimensions and placement in the shelf compartment of the individual items to be picked.

For slotting of an individual item in a specific storage location, the individual item is first brought onto the delivery table of the operating device, and the operating device is subsequently moved to the shelf compartment having the desired storage location. The clamping jaws can be moved, just before actual picking takes place, in such a manner that they almost lie against the sides of the individual item to be picked. In this manner, the clamping jaws can be a guide for the individual item available.

A pusher may be disposed opposite the face side of the operating device assigned to the shelf is then moved out to push the individual item, if desired with simultaneous guidance by means of the clamping jaws, onto the shelf and to the desired storage location. Because of the placement of the pusher on one face side of the operating device, slotting and picking are only possible by way of the “other” face side (i.e., slotting and picking take place on the same face side). If an individual item is supposed to be picked from a first shelf and placed onto an opposite, second shelf, it often requires that the operating device be rotated about the vertical axis by 180° after picking from the first shelf, so that the slotting and picking side faces the second shelf. Further, the typical operating device is only suitable for picking individual items from storage locations situated on horizontal shelves, or slotting them onto such locations.

Accordingly, an operating device is provided for an order-picking apparatus having storage locations disposed opposite one another. The operating device may have a delivery table having two opposite slotting and picking sides and two longitudinal sides, with a transport channel for accommodation of at least one individual item extending between the slotting and picking sides, along a first horizontal direction.

The delivery table of the operating device may be configured such that individual items can get to the delivery table by way of one slotting and picking side, and can be brought from the delivery table to a storage location by way of either the opposite or the same slotting and picking side. The transport channel that extends along the first horizontal direction does not represent a structural characteristic of the operating device itself, but rather is defined by parts of the operating device and defines a transport path between the slotting and picking sides, along which individual items can be moved. In this connection, the formulation “along the first horizontal direction” should be interpreted to mean that the individual items can be moved in this direction and counter to this direction.

The operating device may include two elongated clamping jaws disposed above the delivery table, having facing, planar clamping surfaces, which define a lateral delimitation of the transport channel at least in certain sections. The clamping jaws may be coupled with a drive unit, in order to be moved jointly along the first horizontal direction, and may be coupled with a second drive unit, in order to be moved along a second horizontal direction transverse to the first horizontal direction, toward and away from one another, so that at least one individual item may be held between the clamping surfaces and moved along the first horizontal direction.

The operating device may include at least one pusher device having a drive for moving a section of the pusher device along the first horizontal direction, with the pusher device having a driver coupled with the drive. The driver is configured to be introduced into the transport channel and removed from it, at least in part. The drive is also configured to be moved along the first horizontal direction in the transport channel, above the delivery table, in such a manner that the at least one individual item can be moved out of the transport channel by way of a slotting and picking side, at least in certain sections. The driver is also configured to be removed from the transport channel again so that transport over the complete length of the channel, from the one slotting and picking side to the other, may occur.

The operating device may include two modules for moving individual items. For example, the elongated clamping jaws may be disposed above the delivery table, with their related drive units. Individual items may be picked from vertical storage locations by the elongated clamping jaws, which may have a supporting action when picking from vertical storage locations.

As another example, the pusher device may push individual items from the delivery table to a storage location. Here, it is not necessary that the storage location is configured on a horizontal shelf. For example, the storage location may also be situated in an inclined shaft. For slotting into an inclined shaft descending from the delivery table, the individual item may be pushed into the shaft beyond the slotting and picking side situated at the face side of the shaft. The individual item may slide downward in the shaft under the effect of gravity until it reaches a stop, which may be provided by another individual item or a release mechanism at the end of the shaft.

The driver of the pusher device may be introduced into the transport channel and removed from it again, so that the driver does not permanently remain in the transport channel and therefore free movement of an individual item from one slotting and picking side to the opposite slotting and picking side is not blocked.

Therefore, it is possible to pull an individual item, using the clamping jaws, onto the delivery table from a horizontal storage location situated on one slotting and picking side, to introduce the driver of the pusher device into the transport channel in the region of this slotting and picking side, “behind” the individual item, and to push the individual item to the opposite slotting and picking side, using the driver that can be moved in the transport channel above the delivery table, and to pick the individual item by way of the opposite slotting and picking side (e.g., into a shaft or onto a horizontal shelf).

The configuration of the operating device may make it possible to slot and pick individual items from opposite storage locations, without rotation of the operating device about the vertical axis being necessary. Here, the opposite storage locations do not have to belong to the same “types of storage” (shaft system and level shelves).

The operating device provides for transfer of individual items more rapidly in the order-picking apparatus, from a storage location A to a storage location B, because the rotation about the vertical axis is eliminated. Further, the rows of shelving disposed opposite one another may stand closer to one another, because rotation about the vertical axis is no longer necessary.

The driver of the pusher device may be moved along the first horizontal direction above the delivery table and above or below the elongated clamping jaws. Accordingly, the driver may be introduced into the transport channel and removed from it again, from the side. For this purpose, however, it is necessary that the pusher device with all its components for movement of the driver is disposed on a longitudinal side of the operating device. However, because the components for movement of the clamping jaws are also usually disposed on the longitudinal sides of the operating device, such aggregation of components on one longitudinal side is complicated, in terms of design.

In a preferred embodiment, it is therefore provided that the delivery table has a recess that extends along the first horizontal direction, from which recess the driver may be introduced into the transport channel, at least in part, and in which the driver may be moved along the first horizontal direction. Therefore the components of the pusher device are not disposed on a longitudinal side of the operating device, but rather in a recess of the delivery table, so that no concentration of the components on one longitudinal side of the operating device is necessary. In such a case, the driver is coupled with the drive in such a manner that the driver may be moved above the plane of the delivery table, the driver may be moved in the first horizontal direction above the plane of the delivery table (for pushing an individual item), and the driver may also be brought back down below the plane of the delivery table.

In order for the driver to be able to push individual items on the delivery table from and to the two slotting and picking sides, it is necessary that the driver may be introduced into the channel on both slotting and picking sides and removed from it again. This requires a complicated structure of the pusher device, in terms of design. In a preferred embodiment, it is therefore provided that the operating device has a second pusher device having a drive and a driver, where the drivers of the first and of the second pusher device may be introduced into the transport channel, at least in part, from the recess, separately from one another, and may be moved in this channel along the first horizontal direction. Here, the two pusher devices are coordinated with one another in such a manner that individual items may be moved in opposite directions with them.

The operating device may be configured in such a manner that it may slot individual items into storage locations having different structures, and pick such items from such locations. In the case of inclined storage locations, which are configured to descend from an adjacent slotting and picking side, the individual items usually slide downward to a stop, under the effect of gravity. When using very small individual items, however, it may happen that the center of gravity of the individual item is still situated above the delivery table when a driver has been completely moved to one slotting and picking side. In order to allow the individual item to be moved above a slotting and picking side in such a manner that the center of gravity is situated beyond the slotting and picking side (e.g., already above the storage location), it is provided, in the case of a preferred embodiment, that a driver has a projection that may be moved beyond a picking and slotting side.

The projections of the drivers may be configured in such a manner that they may be moved beyond the picking and slotting sides. Individual items may be pushed completely off the delivery table onto a storage location. With a correspondingly configured operating device, it is also possible to push individual items into an ascending shaft. For this purpose, the individual items are first pushed completely into the shaft, in which they are held with the projection. Then the channel may be closed by means of a suitable closure device, which is adapted to the configuration of the projection, and the driver may be moved back. The individual item is then held in the channel by the closure device. In order to prevent the individual item from becoming wedged as it is “pushed up,” the clamping jaws may be used in a supporting manner.

In a preferred embodiment of the operating device, the pusher device has a guide device having a guide that extends along the first horizontal direction (x), along which the driver may be moved through the transport channel. The guide device may also have a section that extends away from the delivery table, at least in one end region, by way of which section the driver may be moved out of the transport channel. The guide device, in combination with the recess in the delivery table, may be disposed underneath the delivery table or on a longitudinal side of the delivery table, for example.

The use of a correspondingly configured guide underneath the delivery table provides for removing the driver from the transport channel in a position with reference to the delivery table. For this purpose, the guide for the driver is guided away from the delivery table in this region (e.g., either downward or to the side), so that when the driver is guided into this region, the driver itself is removed from the transport channel.

For picking of individual items from a horizontal storage location, the clamping jaws are pushed between two shelves or into a shelf compartment beyond a slotting and picking side of the delivery table. For this purpose, many of the components that control the movement of the clamping jaws are moved along the longitudinal sides of the delivery table. In order to achieve a particularly compact construction, it is provided in a preferred embodiment of the operating device that the first drive unit and the second drive unit are disposed in a U-shaped drive component that spans the transport channel and is guided on or below the two longitudinal sides of the delivery table.

The operating device may provide for slotting and picking not just one individual item, but rather multiple individual items at the same time. In order to simplify the transport of the individual items on the delivery table, it is provided, in a preferred embodiment, that the delivery table has a coating having low adhesion friction, at least in certain sections of the delivery table. In order to ensure that the clamping jaws lie against the individual items with a particularly large surface area in their clamping region, it is provided, in a preferred embodiment, that the clamping jaws are formed, at least in certain sections, from a resilient material. Furthermore, it is preferred that the clamping surfaces of the clamping jaws have a coating having great adhesion friction, in order to thereby prevent the clamping surfaces from slipping off the lateral surfaces of the individual items to be picked, particularly when picking a plurality of individual items.

FIGS. 1 and 2show perspective views of an embodiment of an operating device1comprising an elongated delivery table10having two opposite slotting and picking sides11,12and two opposite longitudinal sides14,15. In the embodiment shown, the delivery table10is therefore configured to be rectangular, but other sizes and shapes are contemplated. A transport channel100extends between the slotting and picking sides11,12, along a first horizontal direction x (seeFIG. 2), for accommodation and transport of individual items50(seeFIGS. 7A and 7B). The transport channel100is not a physical component of the operating device according to the invention, but rather it is a free space defined by the components of the operating device1, in which and through which the individual items50may be moved.

In the embodiment shown, the delivery table10comprises a recess13that extends along a first horizontal direction x, in which recess13a driver31having a projection31bis guided. The driver31is part of a pusher device30, as shown inFIG. 3. However, as shown inFIGS. 1 and 2, the driver31may be moved in the recess13along the first horizontal direction x.

In the embodiment shown, the delivery table10is spanned by a U-shaped drive component23, which comprises a first drive unit21and a second drive unit22. Using the first drive unit21, the U-shaped drive component23may be moved along the longitudinal sides14,15of the delivery table10. The drive component23carries two clamping jaws20a,20b, which are disposed parallel to one another on the longitudinal sides14,15of the delivery table10, in the views according toFIGS. 1 and 2. The clamping jaws20a,20bare fixed in place on the drive component23so as to pivot, and can be pivoted, by way of the second drive unit22, in a second horizontal direction y, which lies orthogonal to the first horizontal direction x, specifically in such a manner that the tops of the clamping jaws20a,20bmay be moved toward one another and away from one another. Using such a movement, individual items50that are disposed on a vertical shelf (not shown) may be pulled from the vertical shelf onto the delivery table10after the tips of the clamping jaws20a,20bhave been moved toward one another. In such a case, the driver31may be moved completely below the plane of the delivery table10so that the driver31is removed from the transport channel100.

In the embodiment shown, the clamping surfaces of the clamping jaws20a,20bhave a coating23a,23bhaving great adhesion friction on their clamping end sections. At their opposite end sections, the clamping jaws20a,20bare fixed in place on the drive component23, but this is not essential for the present disclosure. The operating device1may have four clamping jaws, for example, which may be disposed on opposite sides of the drive component23, so as to pivot, providing for individual items to be picked from horizontal storage locations on both slotting and picking sides11,12. Further, the clamping jaws themselves, instead of the drive component on which they are attached, may be movable so that two clamping jaws are configured for picking individual items from horizontal storage locations on both slotting and picking sides11,12of the operating device. The drive units for the clamping jaws would then have to be adapted accordingly.

FIG. 3shows a perspective view of components of the operating device disposed underneath the delivery table10. In the embodiment shown, two pusher devices30,40are disposed underneath the delivery table10. Pusher devices30,40are responsible for movement of drivers31,32into and out of the transport channel100and within the transport channel100, along the first horizontal direction x. For this purpose, the delivery table10may comprise a corresponding recess13(seeFIG. 1), in which the drivers31,41may be moved.

Each of the pusher devices30,40comprises an elongated guide device33,43preferably configured substantially parallel to or along the first horizontal direction x. Each guide device33,43comprises a guide34,44that extends along the first horizontal direction x, and, in the embodiment shown, comprises an elongated recess configured parallel to the delivery table10. In an end region of each guide device33,43, the guide34,44makes a transition into a section35,45that extends downward.

The drivers31,41, at their lower end, comprise a circular guide element31cthat projects outward, with which the drivers are guided in the guide34,44. The drivers31,32are moved by way of a gear mechanism part37,47connected with the drivers, which in turn is coupled with a drive32,42by way of a shaft36,37provided with an outside thread.

If the drivers31,41are moved by the drives32,42, the shafts36,46, and the gear mechanism parts37,47, into the section35,45that extends away from the delivery table10, the drivers31,41are moved away from the delivery table10by the guide elements31c,41c. In the embodiment shown inFIG. 3, the drivers31,41are moved “downward,” (e.g., the drivers are moved downward out of the transport channel100). In the elongated region of the guide34,44, configured parallel to the delivery table10, which region is shown for the driver31inFIG. 3, at least one section of the driver31projects beyond the plane of the delivery table10(and thereby into the transport channel100).

FIG. 4shows a top view of the components of the pusher devices30,40disposed underneath the delivery table10. As can be seen in this view, the guide devices33,43are disposed parallel to one another, and the drivers31,41are disposed on the guides34,44of the guide device33,43in such a manner that the projections31b,41bof the drivers31,41are disposed opposite one another, so that individual items50may be moved in a first direction on the delivery table10with driver31, and individual items50may be moved in a second direction on the delivery table10with driver41. For example, the first direction may be to the right and the second direction may be to the left.

FIG. 5shows a perspective detail view of a section of the components described with reference toFIG. 3disposed underneath the delivery table10. It can particularly be seen inFIG. 5that the guide device43or the guide44has a section45extending away from the delivery table10in an “upper” region. Because the guide device43is disposed underneath the delivery table10in the embodiment shown, the section45extends downward. If the driver41is guided, by way of its guide element41c, along the guide44into the region that extends downward, the driver41is pulled “downward.” Therefore the driver41, which has been dipped into the transport channel100, is removed from the transport channel100. The driver31is disposed in the elongated part of the guide34in the position shown, and therefore dips into the transport channel100.

FIGS. 6A-6Cshow lateral sectional views of the delivery table10and of the components disposed underneath it, with the sectional line placed in such a manner that only the components of the pusher device30can be seen. InFIG. 6A, the driver31is disposed in the elongated section of the guide34of the guide device33that is configured parallel to the delivery table10, and it can be seen that the driver31is disposed with the projection31babove the delivery table10, at least in certain sections, i.e. engages into the transport channel100.

InFIG. 6B, the driver31is disposed in the end region of the guide34, with this end region lying opposite the section in which the guide34extends away from the delivery table10. In this representation, it can be seen that the projection31bof the driver31projects beyond the slotting and picking side11of the delivery table10.

In the representation according toFIG. 6C, the driver31, together with projection31band guide31c, has been moved completely into the section35of the guide34that extends away from the delivery table10. In the embodiment shown, the section35extends downward (in accordance with the placement of the pusher device underneath the delivery table10), thereby moving the driver31downward when it is moved into this section35by way of its guide element31c, and therefore out of the transport channel100.

FIGS. 7A and 7Bshow lateral sectional views of the delivery table10and of the components disposed underneath it, where only the components of the first guide device33are shown because of the sectional view. In the representation according toFIG. 7A, an individual item50is disposed on the delivery table10and in the transport channel100. The driver31moves the individual item50on the delivery table10, which has an adhesion-reducing coating10a, to the left toward the slotting and picking side11. In the representation according toFIG. 7B, the driver31has pushed the individual item50beyond the slotting and picking side11into the channel60, in which the individual item50will slide until it hits the stop61.

FIG. 8shows a flow chart illustrating steps in a method200for picking and storing individual items (e.g., medication packages), according to some embodiments. Method200may be performed in connection with an order-picking apparatus consistent with the present disclosure. Accordingly, the order-picking apparatus in method200may include a delivery table (e.g., delivery table10) having opposite slotting and picking sides (e.g., slotting and picking sides11,12) that define a transport channel (e.g., transport channel100) through which the individual items (e.g., individual items50) may be moved. The order-picking apparatus in method200may also include one or more pusher devices (e.g., pusher device30,40) having a driver (e.g., driver31,41) with a projection (e.g.,31b,41b), a drive component (e.g., U-shaped drive component23) that carries clamping jaws (e.g., clamping jaws20a,20b). Accordingly, the clamping jaws are configured to grab or pick an individual item from a shelf, move the individual item along the transport channel and push the individual item into a delivery channel.

Steps in method200may be performed at least partially by an operator, medical personnel, or a healthcare professional in a healthcare facility or in a drugstore, or in a pharma manufacturing facility. Accordingly, method200may be part of a medicament management or a drug logistic prepared by a physician or a healthcare professional. Moreover, method200may be performed automatically upon execution of a command provided by or controlled by a healthcare professional. For example, steps in method200may be programmed or directed with commands on computer-readable media, which, in some embodiments, can comprise non-transitory computer readable media.

Methods consistent with the present disclosure may include at least one of the steps illustrated inFIG. 8, performed in any order. In some embodiments, a method may include at least two of the steps illustrated inFIG. 8performed overlapping in time, or even simultaneously. Moreover, embodiments consistent with the present disclosure may include at least one but not all of the steps illustrated inFIG. 8. Furthermore, methods consistent with the present disclosure may include more steps, in addition to at least one of the steps illustrated inFIG. 8. In some embodiments, one or more steps may be repeated.

Step210includes storing individual items in shelf units having a plurality of horizontal and/or vertical storage locations disposed opposite another plurality of horizontal and/or vertical storage locations. Step220includes picking an individual item from a storage location on one slotting and picking side of a delivery table using two or more clamping jaws. In some embodiments, step220includes providing a supporting action when picking individual items from vertical storage locations. Step230includes pulling the picked item from the storage location onto the delivery table using the clamping jaws. Step240includes pushing the picked item to a delivery position on the delivery table using a driver of a pushing device within a transport channel. In some embodiments, step240includes pushing an item that is pulled onto the delivery table from one slotting and picking side to the opposite slotting and picking side, allowing for slotting and picking of items form opposite storage locations without requiring rotation of an operating device about a vertical axis. Step250includes pushing the picked item off of the delivery table to another storage location or delivery channel. In some embodiments, step250includes using the clamping jaws in as a support structure to prevent the picked item from becoming wedged as it is pushed off of the delivery table.

It is understood that any specific order or hierarchy of blocks in the processes disclosed is an illustration of example approaches. Based upon design or implementation preferences, it is understood that the specific order or hierarchy of blocks in the processes may be rearranged, or that all illustrated blocks be performed. In some implementations, any of the blocks may be performed simultaneously.

It is understood that the specific order or hierarchy of steps, operations or processes disclosed is an illustration of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps, operations or processes may be rearranged. Some of the steps, operations or processes may be performed simultaneously. Some or all of the steps, operations, or processes may be performed automatically, without the intervention of a user. The accompanying method claims, if any, present elements of the various steps, operations or processes in a sample order, and are not meant to be limited to the specific order or hierarchy presented.