LIDAR system with synchronized MEMS mirrors

In one embodiment, a light detection and range (LIDAR) device includes a light source to emit a light beam to scan a range of orientations associated with a target scanning zone. The LIDAR device further includes a first microelectromechanical system (MEMS) mirror configured to receive and redirect the light beam towards to the target scanning zone. The first MEMs mirror is configured to tilt vertically and horizontally to redirect the light beam in a plurality of angles. The LIDAR device further includes a light detector to receive the light beam reflected from one or more objects located within the target scanning zone. The first MEMS mirror tilts multiple directions with respect to the light source to allow the light source to emit the light beam and the light detector to receive the reflected light beam to obtain multiple angular resolutions of the one or more objects.

TECHNICAL FIELD

Embodiments of the present invention relate generally to operating autonomous vehicles. More particularly, embodiments of the invention relate to a light detection and range (LIDAR) device for operating an autonomous driving vehicle.

BACKGROUND

LIDAR techniques have been widely utilized in military, geography, oceanography, and in the latest decade, autonomous driving vehicles. Apart from others, LIDAR's applications in autonomous driving vehicles have been hindered by the high cost. A LIDAR device can estimate a distance to an object while scanning through a scene to assemble a point cloud representing a reflective surface of the object. Individual points in the point cloud can be determined by transmitting a laser pulse and detecting a returning pulse, if any, reflected from the object, and determining the distance to the object according to the time delay between the transmitted pulse and the reception of the reflected pulse. A laser or lasers, can be rapidly and repeatedly scanned across a scene to provide continuous real-time information on distances to reflective objects in the scene.

FIG. 1shows a typical LIDAR device. Referring toFIG. 1, LIDAR device180includes beam steering optics184, where a laser beam186is directed to the beam steering optics184. Beam steering optics184is a rotating angled mirror that directs laser beam186(e.g., rotating horizontally) to sweep across a scanning zone. Rotating angled mirror184rotates about an axis substantially parallel, and roughly in line with, the initial downward path of the laser beam186. The rotating angled mirror184rotates in the direction indicated by the reference arrow188. Typically, mirror184is attached to a frame of range finder182with a fixed angle. Mirror184rotates together with the entire LIDAR device180according to rotating direction188.

The most popular design of LIDAR includes 16 to 64 of 907 nanometer (nm) semiconductor lasers, corresponding detectors, and electronics stacked into a single assembly to provide angular resolutions in a stacking direction. The whole assembly is then spun around an axle mechanically to achieve scanning in two dimensions (2D). In order to obtain multiple angular resolutions, multiple of LIDAR device180may be stacked together vertically, each corresponding one of the targeted angular resolutions. The number of lasers and detectors required significantly limits the achievement of previous effort for cost reduction.

DETAILED DESCRIPTION

According to some embodiments, a LIDAR device includes a light source (e.g., laser) to emit a light beam (e.g., a laser beam) and a mirror to reflect the light beam towards a target zone. The light source and the mirror are rotated horizontally to scan the target zone. In addition, the mirror is configured to tilt or swing in multiple directions, such as upwardly and downwardly, to a certain degree to emit the light beam in multiple angles. The LIDAR device can receive the light beam reflected from an object within the target zone in multiple angles, which may be utilized to derive or develop multiple angular resolutions of the scanned object. As a result, a single LIDAR device (with a single light source and single light detector) can scan and capture multiple angular resolutions of an object. The number of LIDAR devices (or number of light sources and light detectors) required to scan an object can be reduced and the cost for operating an autonomous driving vehicle (ADV) can also be reduced.

In one embodiment, a LIDAR device includes a light source to emit a light beam, a first microelectromechanical system (MEMS) mirror, and a light detector. The light source is to emit a light beam (e.g., in a form of light pulses) to scan a scope or a range of orientations of a target scanning zone. The first MEMS mirror is to receive and redirect (or reflect) the light beam towards the target scanning zone. The first MEMS mirror is configured to tilt or swing in multiple directions or angles to redirect the light beam in multiple angles (e.g., vertical and/or horizontal angles). The light detector is to receive the light beam reflected from one or more objects located within the target scanning zone. The light source, the first MEMS mirror, and the light detector are configured to rotate horizontally to scan a field of view, while the first MEMS mirror is to title or swing in multiple directions or angles to allow the light source to emit the light beam and the light detector to receive the reflected light beam in multiple angles to obtain multiple angular resolutions of the one or more objects.

According to another embodiment, a LIDAR device further includes a second MEMS mirror positioned to receive the light beam reflected from the one or more objects and to redirect the received light beam to the light detector in multiple angles. The second MEMS mirror is configured to tilt or swing in multiple directions or angles to receive the reflected light beam from multiple angles representing multiple angular resolutions of the one or more objects. In one embodiment, the first and second MEMS mirrors are configured to swing according to a predetermined synchronization scheme, such that the light source can emit the light beam and the light detector can receive the reflected light beam in multiple angles respectively.

According to another embodiment, the first MEMS mirror is a double-sided mirror having a first reflective surface and a second reflective surface. The first reflective surface is to redirect a light beam from the light source towards to the target scanning zone. The second reflective surface is to receive the light beam reflected from one or more objects within the target scanning zone. In one embodiment, a static mirror is positioned to receive the reflected light beam from the objects and to redirect the reflected light beam to the second reflective surface of the first MEMS mirror. The second reflective surface of the first MEMS mirror can then reflect and redirect the light beam to the light detector. The static mirror may be a mirror of any kinds; it does not have to be a MEMS mirror. The static mirror may or may not rotate with respect to the light source dependent upon the specific design and implementation.

Referring now toFIG. 3, in one embodiment, sensor system115includes, but it is not limited to, one or more cameras211, global positioning system (GPS) unit212, inertial measurement unit (IMU)213, radar unit214, and a light detection and range (LIDAR) unit215. GPS system212may include a transceiver operable to provide information regarding the position of the autonomous vehicle. IMU unit213may sense position and orientation changes of the autonomous vehicle based on inertial acceleration. Radar unit214may represent a system that utilizes radio signals to sense objects within the local environment of the autonomous vehicle. In some embodiments, in addition to sensing objects, radar unit214may additionally sense the speed and/or heading of the objects. LIDAR unit215may sense objects in the environment in which the autonomous vehicle is located using lasers. LIDAR unit215could include one or more laser sources, a laser scanner, and one or more detectors, among other system components. Cameras211may include one or more devices to capture images of the environment surrounding the autonomous vehicle. Cameras211may be still cameras and/or video cameras. A camera may be mechanically movable, for example, by mounting the camera on a rotating and/or tilting a platform.

Some or all of the functions of autonomous vehicle101may be controlled or managed by perception and planning system110, especially when operating in an autonomous driving mode. Perception and planning system110includes the necessary hardware (e.g., processor(s), memory, storage) and software (e.g., operating system, planning and routing programs) to receive information from sensor system115, control system111, wireless communication system112, and/or user interface system113, process the received information, plan a route or path from a starting point to a destination point, and then drive vehicle101based on the planning and control information. Alternatively, perception and planning system110may be integrated with vehicle control system111.

While autonomous vehicle101is moving along the route, perception and planning system110may also obtain real-time traffic information from a traffic information system or server (TIS). Note that servers103-104may be operated by a third party entity. Alternatively, the functionalities of servers103-104may be integrated with perception and planning system110. Based on the real-time traffic information, MPOI information, and location information, as well as real-time local environment data detected or sensed by sensor system115(e.g., obstacles, objects, nearby vehicles), perception and planning system110can plan an optimal route and drive vehicle101, for example, via control system111, according to the planned route to reach the specified destination safely and efficiently.

Server103may be a data analytics system to perform data analytics services for a variety of clients. In one embodiment, data analytics system103includes data collector121and machine learning engine122. Data collector121collects driving statistics123from a variety of vehicles, either autonomous vehicles or regular vehicles driven by human drivers. Driving statistics123include information indicating the driving commands (e.g., throttle, brake, steering commands) issued and responses of the vehicles (e.g., speeds, accelerations, decelerations, directions) captured by sensors of the vehicles at different points in time. Driving statistics123may further include information describing the driving environments at different points in time, such as, for example, routes (including starting and destination locations), MPOIs, road conditions, weather conditions, etc.

Based on driving statistics123, machine learning engine122performs or trains a set of rules, algorithms, and/or predictive models124for a variety of purposes. Algorithms/models124may be specifically designed or configured for a particular vehicle or a particular type of vehicles. Algorithms/models124may then be uploaded onto the associated ADVs for driving the ADVs at real-time. Algorithms/models124may be utilized to plan, route, and control the ADVs under a variety of driving scenarios or conditions.

FIG. 4is a block diagram illustrating an example of a perception and planning system used with an autonomous vehicle according to one embodiment of the invention. System300may be implemented as a part of autonomous vehicle101ofFIG. 2including, but is not limited to, perception and planning system110, control system111, and sensor system115. Referring toFIG. 4, perception and planning system110includes, but is not limited to, localization module301, perception module302, decision module303, planning module304, and control module305.

Based on the sensor data provided by sensor system115and localization information obtained by localization module301, a perception of the surrounding environment is determined by perception module302. The perception information may represent what an ordinary driver would perceive surrounding a vehicle in which the driver is driving. The perception can include the lane configuration (e.g., straight or curve lanes), traffic light signals, a relative position of another vehicle, a pedestrian, a building, crosswalk, or other traffic related signs (e.g., stop signs, yield signs), etc., for example, in a form of an object.

For each of the objects, decision module303makes a decision regarding how to handle the object. For example, for a particular object (e.g., another vehicle in a crossing route) as well as its metadata describing the object (e.g., a speed, direction, turning angle), decision module303decides how to encounter the object (e.g., overtake, yield, stop, pass). Decision module303may make such decisions according to a set of rules such as traffic rules or driving rules312, which may be stored in persistent storage device352.

Based on a decision for each of the objects perceived, planning module304plans a path or route for the autonomous vehicle, as well as driving parameters (e.g., distance, speed, and/or turning angle). That is, for a given object, decision module303decides what to do with the object, while planning module304determines how to do it. For example, for a given object, decision module303may decide to pass the object, while planning module304may determine whether to pass on the left side or right side of the object. Planning and control data is generated by planning module304including information describing how vehicle300would move in a next moving cycle (e.g., next route/path segment). For example, the planning and control data may instruct vehicle300to move 10 meters at a speed of 30 mile per hour (mph), then change to a right lane at the speed of 25 mph.

Based on the planning and control data, control module305controls and drives the autonomous vehicle, by sending proper commands or signals to vehicle control system111, according to a route or path defined by the planning and control data. The planning and control data include sufficient information to drive the vehicle from a first point to a second point of a route or path using appropriate vehicle settings or driving parameters (e.g., throttle, braking, and turning commands) at different points in time along the path or route.

Note that decision module303and planning module304may be integrated as an integrated module. Decision module303/planning module304may include a navigation system or functionalities of a navigation system to determine a driving path for the autonomous vehicle. For example, the navigation system may determine a series of speeds and directional headings to effect movement of the autonomous vehicle along a path that substantially avoids perceived obstacles while generally advancing the autonomous vehicle along a roadway-based path leading to an ultimate destination. The destination may be set according to user inputs via user interface system113. The navigation system may update the driving path dynamically while the autonomous vehicle is in operation. The navigation system can incorporate data from a GPS system and one or more maps so as to determine the driving path for the autonomous vehicle.

Decision module303/planning module304may further include a collision avoidance system or functionalities of a collision avoidance system to identify, evaluate, and avoid or otherwise negotiate potential obstacles in the environment of the autonomous vehicle. For example, the collision avoidance system may effect changes in the navigation of the autonomous vehicle by operating one or more subsystems in control system111to undertake swerving maneuvers, turning maneuvers, braking maneuvers, etc. The collision avoidance system may automatically determine feasible obstacle avoidance maneuvers on the basis of surrounding traffic patterns, road conditions, etc. The collision avoidance system may be configured such that a swerving maneuver is not undertaken when other sensor systems detect vehicles, construction barriers, etc. in the region adjacent the autonomous vehicle that would be swerved into. The collision avoidance system may automatically select the maneuver that is both available and maximizes safety of occupants of the autonomous vehicle. The collision avoidance system may select an avoidance maneuver predicted to cause the least amount of acceleration in a passenger cabin of the autonomous vehicle.

FIG. 5is a diagram illustrating an example of a LIDAR device according to one embodiment of the invention. LIDAR device500may be implemented as part of LIDAR unit215ofFIG. 2B. Referring toFIG. 5, similar to conventional LIDAR device180ofFIG. 1, LIDAR device500includes beam steering optics501, where a laser beam186is directed to the beam steering optics501. Beam steering optics501is a rotating angled mirror that directs laser beam186to sweep across a scanning zone. Rotating angled mirror501rotates about an axis substantially parallel, and roughly in line with, the initial downward path of the laser beam186. The rotating angled mirror501rotates in the direction indicated by the reference arrow188. Typically, mirror184is attached to a frame of range finder182with a fixed angle. Mirror501may rotate together with the entire LIDAR device500according to rotating direction188.

In addition, according to one embodiment, optics501is a MEMS mirror that can be configured to tilt or swing in multiple directions (e.g., vertically, horizontally, diagonally, or a combination thereof), as indicated by directions503A and503B. As a result, the light beam from the light source can be reflected or redirected to multiple angles as light beams186aand186b. In one embodiment, when LIDAR device500rotates horizontally, MEMS mirror501rotate horizontally (along direction188) together with the main body182of LIDAR device500, while MEMS mirror501can tilt vertically (e.g., upwardly and downwardly along direction503B) with respect to the main body182.

According to another embodiment, MEMS mirror is configured to rotate in multiple directions (e.g., vertically, horizontally, diagonally, or a combination thereof), while main body182remains in a steady position. Such a MEMS mirror capable of rotating in multiple directions is referred to as a two-dimensional (2D) mirror. According to a further embodiment, two one-dimensional (1D) MEMS mirrors can also be utilized. In this embodiment, one MEMS mirror tilts in a vertical direction and the other MEMS mirror tilts in a horizontal direction.

Thus, due to swinging in multiple angles, such as upwardly and downwardly, of MEMS mirror501, a light beam can be emitted in a range of angles502(e.g., a range of angles) and the reflected light beams from multiple angles can be utilized to derive multiple angular resolutions of an object. As a result, a single LIDAR device (with a single light source and single light detector) can scan and capture multiple angular resolutions of an object. The number of LIDAR devices (or number of light sources and light detectors) required to scan an object can be reduced and the cost for operating an autonomous driving vehicle (ADV) can also be reduced.

In one embodiment, LIDAR device500includes a light source (not shown) to emit a light beam, first microelectromechanical system (MEMS) mirror501, and a light detector (not shown). The light source is to emit light beam186(e.g., in a form of light pulses) to scan a scope or a range of orientation associated with a target scanning zone according to direction188. The MEMS mirror501is to receive and redirect (or reflect) the light beam186towards the target scanning zone. The MEMS mirror501is configured to tilt or swing in multiple directions (e.g., direction503A, direction503B, or a combination thereof) to redirect the light beam in multiple angles (e.g., vertical and/or horizontal angles) as indicated as part of light beams186a-186b. The light detector is to receive the light beams186a-186breflected from one or more objects located within the target scanning zone (not shown). In one embodiment, the light source, the MEMS mirror501, and the light detector are configured to rotate horizontally to scan a field of a view, while the MEMS mirror501is to title or swing in multiple directions (e.g., vertically, horizontally, diagonally, or a combination thereof) to allow the light source to emit the light beam and the light detector to receive the reflected light beam in multiple angles to obtain multiple angular resolutions of the one or more objects. According to another embodiment, MEMS mirror501is to tilt or swing in in multiple directions (e.g., vertically, horizontally, diagonally, or a combination thereof), while main body182of LIDAR device500remains steady. Since a single LIDAR device can handle multiple angular resolutions, the number of LIDAR devices that are required to scan an object can be reduced and the associated cost can be reduced.

FIG. 6is a block diagram illustrating an example of a configuration of a LIDAR device according to one embodiment of the invention. LIDAR device600may represent LIDAR device500ofFIG. 5. Referring toFIG. 6, LIDAR device600includes a transmitter (TX) unit601(also referred to as a scanning unit) and a receiver (RX) unit602. TX unit601is configured to emit a light beam towards target650and RX unit602is configured to receive the light beam reflected by target650. Although TX unit601and RX unit602are shown as separate units, they can be implemented as a single integrated unit.

In one embodiment, TX unit601includes light source611and first MEMS mirror612. RX unit602includes second MEMS mirror622and light detector621. Light source611can include a laser diode, a light emitting diode (LED), a vertical cavity surface emitting laser (VCSEL), an organic light emitting diode (OLED), a polymer light emitting diode (PLED), a light emitting polymer (LEP), a liquid crystal display (LCD), and/or any other device configured to selectively emit a light beam. Light source611can be configured to emit a light beam in a wavelength range that can be detected by light detector621. The wavelength range could, for example, be in the ultraviolet, visible, and/or infrared portions of the electromagnetic spectrum. In one embodiment, the wavelength range includes wavelengths that are approximately 905 nm. Light source611can be configured to emit a light beam in the form of pulses. Light detector612may include a photodiode, an avalanche photodiode, a phototransistor, a camera, an active pixel sensor (APS), a charge coupled device (CCD), a cryogenic detector, and/or any other sensor of light configured to receive light having wavelengths in the wavelength range of light source611.

Light source611emits a light beam to first MEMS mirror612, which reflects and redirects the light beam towards target650. The light beam reflected from target650is received by second MEMS mirror622, which reflects and redirects the reflected light beam to light detector621. The operations of TX unit601and RX unit602are controlled by controller603, which may be implemented in hardware, software, or a combination thereof. In one embodiment, controller603includes light source controller631, mirror controller632, and light detector controller633. Light source controller631controls light source611to generate and emit a light beam. Light detector controller633controls light detector621to receive and detect the reflected light beam.

In one embodiment, mirror controller632is configured to control first MEMS mirror612and second MEMS mirror622to swing in multiple directions as indicated as directions613and623, respectively. Each of first MEMS mirror612and second MEMS mirror613can swing or tilt in various directions, such as, vertically (e.g., upwardly and downwardly), horizontally (e.g., left and right, or sideway), diagonally, or a combination thereof. In this configuration, light source611and light detector621are mounted on a fixed position. When light source611emits a light beam towards MEMS mirror612, the light beam is reflected and redirected to target650in multiple angles due to the rotations of MEMS mirror612in multiple directions with respect to light source611. Similarly, the light beams reflected from target650can be captured by MEMS mirror by rotating MEMS mirror with respect to light detector621and redirected to light detector621. As a result, single light source611and light detector621can obtain multiple angular resolutions of target650, which may be utilized by range finder604to determine a range of distance and orientation of target650. Range finder604can compare a time when the light pulses included in the light beam emitted by light source611with a time when the corresponding reflected light beam is received by light detector621to determine the distance between the objects and the LIDAR device.

In one embodiment, in order to capture multiple reflected light beams emitted from light source611and redirected by MEMS mirror612by rotating, MEMS mirror622may rotate according to certain synchronization scheme. Specifically, MEMS mirrors612and622may be controlled by mirror controller632to rotate synchronously, such that light detector621can receive multiple light beams spread by MEMS mirror612representing multiple angular resolutions of target650. As a result, a number of LIDAR devices can be reduced as a whole to capture enough angular resolutions of an object.

According to another embodiment, TX unit601further includes first lens614to convert a light beam emitted from light source611from an unfocused light beam into a focused light beam. The focal point of lens614may be configured to reach a reflective surface of MEMS mirror612. Since the size of reflective surface of MEMS mirror612tends to be relatively small, lens assembly614can provide a focused light beam with a higher strength. In general, light source611may emit an uncollimated and unfocused light beam that diverges more in one direction than another direction. Lens614may partially collimate the light beam before the partially collimated light beam reaches MEMS mirror612.

In one embodiment, TX unit601further optionally includes second lens assembly615to receive a light beam from MEMS mirror612, collimate the light beam to generate a collimated light beam, and to direct the collimated light beam to target650. The collimated light beam may reflect from target650and received by MEMS mirror622. In addition to collimating the light beam, lens assembly615may further spread the light beam to scan in a wider angle than the angle received from MEMS mirror612, as shown inFIG. 7. A wider angled light beam can generate wider angular range. Similarly, RX unit602may further optionally include lens624and lens625corresponding to lens614and lens615in a reversed direction, respectively. For example, lens625may convert wide angled light beams into narrower angled light beams. Lens624may convert more focused light beams into more spreaded light beams so that detector621can easily receive them.

Note that MEMS mirrors612and622can swing, rotate, or tilt vertically, horizontally, diagonally, or in any other directions, as long as MEMS mirror612can spread a light beam emitted from light source611in multiple angles and MEMS mirror622can receive and capture the corresponding reflected light beam in multiple angles. In operating an autonomous driving vehicle, multiple of LIDAR devices600may be employed to sufficiently capture the external environment of the ADV. However, since a single LIDAR device can make measurements along multiple angular orientations, the total number of LIDAR devices can be reduced. A conventional LIDAR device typically can only capture a single angular resolution.

FIG. 8is a block diagram illustrating an example of a configuration of a LIDAR device according to another embodiment of the invention. Referring toFIG. 8, in this embodiment, MEMS mirror612is a double-sided mirror that includes first reflective surface612aand second reflective surface612b. Similar to the configuration as shown inFIG. 6, MEMS mirror612can rotate with respect to the fixed positon of light source611and/or light detector621. However, a static mirror626is configured in a fixed position with respect to light source611and light detector621. That is, in this configuration, only MEMS mirror612is rotatable, while light source611, light detector621, and static mirror626are attached to fixed positions.

In one embodiment, when light source611emits a light beam, the light beam reaches first reflective surface612aof MEMS mirror612, which reflects and redirects the light beam towards target650. Target650reflects the light beam and the reflected light beam is received by static mirror626. Static mirror626reflects the light beam towards second reflective surface612bof MEMS mirror612. Second reflective surface612bthen reflects the light beam to light detector621. In this example, since first reflective surface612aand second reflective surface612bare positioned in a fixed position relative to each other, when MEMS mirror612rotates, both reflective surfaces rotate in a synchronized manner. Note that first reflective surface612aand second reflective surface612bdo not have to the opposite sides of MEMS mirror612. Rather, they can be in a particular fixed position with respect to each other, as long as they can redirect the light beam in multiple angles and enable light detector621to receive the corresponding reflected light beam in multiple angles.

The techniques described above demonstrate that a single light source and a single light detector can scan and make measurement of an object over a range of angles with the help of MEMS mirrors. According to another embodiment, a single light source can be utilized with multiple light detectors to achieve the same goal, where each light detector receives a reflected light beam within a subset of angles representing a subset of angular range.

FIG. 9is a block diagram illustrating a LIDAR device according to another embodiment of the invention. Referring toFIG. 9, in this embodiment, TX unit601can generate and emit a light beam in larger angle range, in this example, in a range of 60 degrees. The LIDAR device further includes multiple RX units602A-602D. TX unit601includes a light source and a MEMS mirror and each of RX units602A-602D includes a light detector and a MEMS mirror as described above with respect toFIGS. 6 and 8. Each RX unit is configured to receive the reflected light beam in a subset of angles, in this example, 15 degrees. Although there are four RX units shown, more or fewer RX units may be implemented.

FIG. 10is a flow diagram illustrating a process of operating a LIDAR device according to one embodiment of the invention. Process1000can be performed by processing logic which may include hardware, software, or a combination thereof. Referring toFIG. 10, in operation1001, a light source generates and emits a light beam attempted to scan a range of orientations directed to s target scanning zone. In operation1002, a MEMS mirror receives and redirects the light beam towards the target scanning zone. The MEMS mirror can tilt or rotate in multiple directions to redirect the light beam in multiple angles. In operation1003, a light detector receives the light beam reflected from one or more objects located within the target scanning zone in multiple angles to obtain multiple angular resolutions about the objects.

FIG. 11is a block diagram illustrating an example of a data processing system which may be used with one embodiment of the invention. For example, system1500may represent any of data processing systems described above performing any of the processes or methods described above, such as, for example, perception and planning system110or any of servers103-104ofFIG. 2. System1500can include many different components. These components can be implemented as integrated circuits (ICs), portions thereof, discrete electronic devices, or other modules adapted to a circuit board such as a motherboard or add-in card of the computer system, or as components otherwise incorporated within a chassis of the computer system.

Note also that system1500is intended to show a high level view of many components of the computer system. However, it is to be understood that additional components may be present in certain implementations and furthermore, different arrangement of the components shown may occur in other implementations. System1500may represent a desktop, a laptop, a tablet, a server, a mobile phone, a media player, a personal digital assistant (PDA), a Smartwatch, a personal communicator, a gaming device, a network router or hub, a wireless access point (AP) or repeater, a set-top box, or a combination thereof. Further, while only a single machine or system is illustrated, the term “machine” or “system” shall also be taken to include any collection of machines or systems that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein.

Processing module/unit/logic1528, components and other features described herein can be implemented as discrete hardware components or integrated in the functionality of hardware components such as ASICS, FPGAs, DSPs or similar devices. In addition, processing module/unit/logic1528can be implemented as firmware or functional circuitry within hardware devices. Further, processing module/unit/logic1528can be implemented in any combination hardware devices and software components.