Abstract:
A spray coating application system for dispensing a liquid coating includes an elongated guide rail and a longitudinal slide plate slideably attached to the guide rail. The longitudinal slide plate is movable along a longitudinal axis of the guide rail between a first and second longitudinal positions. A transverse slide plate is attached to the longitudinal slide plate for concurrent movement therewith along the longitudinal axis of the guide rail. The transverse slide plate is moveable relative to the longitudinal slide plate in a transverse direction substantially perpendicular to the longitudinal axis of the guide rail. A spray nozzle is attached to the transverse slide plate for dispersing the liquid coating as a spray. A cam follower is attached to the transverse slide plate and engagable with a cam for moving the spray nozzle relative to the longitudinal slide plate between a first transverse position and a second transverse position.

Description:
BACKGROUND 
       [0001]    Various forms of automated coating systems have been used to apply liquid coatings to a workpiece, such as an automotive vehicle body. The coating systems used to paint automotive vehicles are typically large, complex and expensive. Many systems use industrial paint robots capable of producing uniform film builds and precise coating thicknesses. In order to obtain an optimal and uniform layer of paint and an optimum painting quality, the paint should be sprayed from the painting tool in a controlled manner normal (perpendicular) to the surface to be covered. The motion pattern of the painting tool must then be correspondingly programmed in relation to the curved surfaces and edges of the vehicle body. Although industrial robots can easily adapt the paint tool to the optimal path pattern for the different car models, they are nevertheless complex and costly devices. There is a need for a simpler and less expensive coating apparatus capable of producing an optimal and uniform coating layer. 
       SUMMARY 
       [0002]    Disclosed is an automated spray coating application system that includes a spray coating applicator for applying a liquid coating to a workpiece, such as an automotive vehicle body. The spray coating applicator moves along a guide rail while discharging a stream of liquid coating from a spray nozzle onto the workpiece. To help ensure uniform application of the liquid coating to the workpiece it is desirable that the spray nozzle may be maintained at a generally uniform spacing from the workpiece. This may be accomplished by actively adjusting a position of the spray nozzle relative to the guide rail to accommodate changes in a contour of the workpiece as the spray coating applicator moves lengthwise along the guide rail. 
         [0003]    The spray coating applicator includes a slide mechanism attached to a carriage of the guide rail. The slide mechanism includes a longitudinal slide plate that moves in unison with the carriage and a transverse slide plate that moves in a transverse direction independent of the longitudinal slide plate. The spray nozzle is attached to and moves in unison with the transverse slide plate. 
         [0004]    The spray coating application system employs a cam system configured to move the transverse slide plate and the spray nozzle transversely relative to the guide rail to maintain a generally uniform spacing between the spray nozzle and the workpiece as the carriage moves the spray coating applicator lengthwise along the guide rail. The cam system includes one or more cams configured to generally mirror a contour of the workpiece. A cam follower travels along the cam as the spray coating applicator moves lengthwise along the guide rail. The cam and cam follower operate in conjunction to move the transverse slide plate relative to the guide rail to accommodate changes in the contour of the workpiece and maintain a generally uniform spacing between the spray nozzle and workpiece. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0005]    The various features, advantages and other uses of the present apparatus will become more apparent by referring to the following detailed description and drawings, in which: 
           [0006]      FIG. 1  is a perspective view of an exemplary spray coating application system including a spray coating applicator for dispensing a liquid coating; 
           [0007]      FIG. 2  is a side view of the spray coating applicator illustrating the liquid coating being discharged from a spray nozzle; 
           [0008]      FIG. 3  is a side view of the spray coating applicator viewed from a perspective perpendicular to the view in  FIG. 2 ; 
           [0009]      FIG. 4  is a side view of the spray coating applicator viewed from a perspective opposite the view in  FIG. 2 ; 
           [0010]      FIG. 5  is a partial cross-sectional view of a masking disk operable for blocking a portion of the liquid coating discharged from the spray nozzle and a wiper for removing accumulated liquid coating from masking disk; 
           [0011]      FIG. 6  is a top view of the masking disk and the wiper, which is pivotally connected to a masking disk support bracket; 
           [0012]      FIG. 7  is a partial cross-sectional view of the spray coating applicator taken along section line  7 - 7  of  FIG. 2 , illustrating a cam system operable for moving a transverse slide plate between a first transverse position and a second transverse position; 
           [0013]      FIG. 8  is a perspective view of the spray coating application system illustrating movement of the spray coating applicator between a first longitudinal position and a second longitudinal position; and 
           [0014]      FIG. 9  is a partial cross-sectional view of a slide mechanism of the spray coating applicator illustrating a biasing mechanism operably for urging the transverse slide toward the first transverse position. 
       
    
    
     DETAILED DESCRIPTION 
       [0015]    A spray coating application system and method of use are disclosed. The spray coating application system may include a spray coating applicator for applying a liquid coating to a workpiece, such as an automotive vehicle body. The spray coating applicator may be moved lengthwise along a linear guide rail while dispensing the liquid coating from a spray nozzle onto the workpiece. To help ensure uniform application of the liquid coating to the workpiece the spray nozzle may be maintained at a generally uniform spacing from the workpiece. This may be accomplished by actively adjusting a position of the spray nozzle relative to the guide rail to accommodate changes in a contour of the workpiece as the spray coating applicator moves lengthwise along the guide rail. The spray coating applicator employs a cam system that moves the spray nozzle transversely relative to the guide rail to maintain the spray nozzle at the desired spacing from the workpiece. The cam system may include one or more cams that can be contoured to generally mirror the contour of the workpiece. A cam follower travels along the cam as the spray coating applicator moves lengthwise along the guide rail to adjust the position of the spray nozzle relative to the guide rail and maintain a generally constant spacing between the spray nozzle and workpiece. 
         [0016]    Referring now to the discussion that follows and also to the drawings, illustrative approaches to the disclosed systems and methods are described in detail. Although the drawings represent some possible approaches, the drawings are not necessarily to scale and certain features may be exaggerated, removed, or partially sectioned to better illustrate and explain the present invention. Further, the descriptions set forth herein are not intended to be exhaustive or otherwise limit or restrict the claims to the precise forms and configurations shown in the drawings and disclosed in the following detailed description. 
         [0017]    With reference to  FIGS. 1-4 and 8 , a spray coating application system  20  is operable to apply a liquid coating  22 , in the form of a spray  24 , onto a workpiece  26 . Spray coating application system  20  may include a spray coating applicator  28  moveably attached to an elongated guide rail  30 . Spray coating applicator  28  may be repetitively moved along a length of guide rail  30  between a first longitudinal position  29  and a second longitudinal position  31 . Guide rail  30  may be suitably attached to a floor  32  of a production facility. A longitudinal axis  34  of guide rail  30  may be oriented generally parallel to workpiece  26 . Other orientations may also be employed depending on the requirements of a particular application. 
         [0018]    Guide rail  30  may include a drive mechanism that operates to move spray coating applicator  28  in a lengthwise direction  35  along guide rail  30 . The drive mechanism may include a linear actuator that repetitively moves spray coating applicator  28  back and forth along guide rail  30 . The actuator may include various configurations, including but not limited to, hydraulic, pneumatic, electrical and electromechanical devices, as well as combinations thereof. The linear actuator may be connected to an external carriage  36  that slides lengthwise along guide rail  30 . Spray coating applicator  28  may be attached to carriage  36  so as to move spray coating applicator  28  along guide rail  30 . A control system may be provided to selectively control operation of the linear actuator and corresponding movement of spray coating applicator  28  along guide rail  30 . 
         [0019]    With reference to  FIGS. 1-4, 7 and 9 , spray coating applicator  28  may include a slide mechanism  38  attached to carriage  36  of guide rail  30 . Slide mechanism  38  may include a longitudinal slide plate  40  attached to carriage  36 . Longitudinal slide plate  40  moves in unison with carriage  36  along guide rail  30 . The configuration of guide rail  30  prevents carriage  36  and longitudinal slide plate  40  from moving in a transverse direction  42  relative to guide rail  30 . Transverse direction  42  is oriented substantially perpendicular to longitudinal axis  34  of guide rail  30 . 
         [0020]    Slide mechanism  38  may also include a transverse slide plate  44  moveably attached to longitudinal slide plate  40 . Transverse slide plate  44  may be arranged vertically above longitudinal slide plate  40 . Transverse slide plate  44  can be moved in unison with longitudinal slide plate  40  and carriage  36  in the lengthwise direction  35 , while also being independently moveable relative to longitudinal slide plate  40  and guide rail  30  in the transverse direction  42  between a first transverse slide position  43  and a second transverse slide position  45 . 
         [0021]    A transverse slide mechanism  44  may moveably connect transverse slide plate  44  to longitudinal slide plate  40 . Transverse slide mechanism  46  may be located between transverse slide plate  46  and longitudinal slide plate  40 . Transverse slide mechanism  44  may be configured to enable transverse slide plate  44  to move in the transverse direction  42  relative to guide rail  30 , while substantially preventing transverse slide plate  44  from moving relative to longitudinal slide plate  40  in the lengthwise direction  35 . 
         [0022]    Transverse slide mechanism  46  may include various configuration that enable transverse slide plate  44  to move in the transverse direction  42  relative to longitudinal slide plate  40  and guide rail  30 . Transverse slide mechanism  46  may include, for example, a pair of elongated transverse slide rails  48  that are moveably connected to a set of bearings  50  that may be configured as bearings. Transverse slide rails  48  may be attached to transverse slide plate  44  and bearings  50  may be attached to longitudinal slide plate  40 . Alternatively, transverse guide rails  48  may be attached to longitudinal slide plate  40  and bearings  50  may be attached to transverse slide plate  44 . Transverse slide rails  48  may each slide within a corresponding set of bearings  50 . A longitudinal axis of transverse guide rails  48  may be aligned parallel to the transverse direction  42  and substantially perpendicular to longitudinal axis  34  of guide rail  30 . Transverse slide mechanism  46  enables transverse slide plate  44  to be moved in the transverse direction  42  relative to longitudinal slide plate  40  and guide rail  30 , while also restricting movement of transverse slide plate  44  relative to longitudinal slide plate  40  in the lengthwise direction  35 . 
         [0023]    With continued reference to  FIGS. 1-4 , spray coating applicator  28  may include a sprayer  52  for dispensing liquid coating  22  as spray  24 . Sprayer  52  may be attached to transverse slide plate  44 . Sprayer  52  and transverse slide plate  44  move in unison in both the transverse direction  42  and lengthwise direction  35 . 
         [0024]    Sprayer  52  may have various configurations and may include a spray nozzle  54  for generating spray  24 . Spray nozzle  54  may be configured to produce a desired spray pattern suitable for the particular application and type of liquid being dispensed. For example, spray nozzle  54  may be configured to produce a generally fan-shaped spray pattern, as well as other spray patterns. Sprayer  52  may be oriented to direct spray  24  discharged from spray nozzle  54  onto workpiece  26 . Liquid coating  22  may be supplied to sprayer  52  from a supply source through a liquid coating supply hose  56 . 
         [0025]    With reference to  FIGS. 2-5 , spray coating applicator  28  may include a touchless paint masking system  58  capable of producing a smooth spray line  60  (as shown, for example, in  FIG. 8 ) without having to use physical on-vehicle masking. Masking system  58  enables spray coating applicator  28  to produce a consistent film-build to an applied liquid coating edge  62 . Masking system  58  may include a rotatable masking disc  64  positioned along a spray path  66  between spray nozzle  54  and workpiece  26 . Masking disc  64  operates to block a portion  68  of spray  24  discharged from spray nozzle  54  from reaching workpiece  26  to produce smooth spray line  60 . 
         [0026]    Masking disc  64  may be rotatably connected to an inverted generally L-shaped masking disc support bracket  70 . An end  71  of support bracket  70  may be attached to transverse slide plate  44  with masking disc  64  attached to an opposite end  73 . This arrangement enables masking disc  64  and spray nozzle  54  to move in unison in the transverse direction  34  and in the lengthwise direction  35  (as illustrated, for example, in  FIG. 1 ). 
         [0027]    Masking disc support bracket  70  may include a horizontal support member  76  connected to a pair of spaced-apart support legs  72  that extend generally vertically upward from transverse slide plate  44  (as viewed from the perspective of  FIGS. 2-4 ). Support legs  72  may be aligned generally perpendicular to transverse slide plate  44 . A proximal end  74  of support legs  72  may be attached to transverse slide plate  44 . 
         [0028]    Horizontal support member  76  may be cantilevered from support legs  72  to provide clearance between masking disc  64  and support legs  72 . A proximal end  77  of horizontal support member  76  may be connected to a distal end  78  of support legs  72  opposite proximal end  74 . Masking disc  64  may be rotatably attached to a distal end  79  of horizontal support member  76  opposite proximal end  77 . 
         [0029]    Horizontal support member  76  may include a pair of mounting tabs  80  that extend generally downward (as viewed from the perspective of  FIGS. 2-5 ) from a masking disc mounting plate  81 . Masking disc  64  is may be rotatably attached to masking disc mounting plate  81 . Mounting tabs  80  of horizontal support member  76  engage distal ends  78  of support legs  72 . A fastener  82  may be used to connect mounting tabs  80  to support legs  72 . Fastener  82  may be configured as a realeasable type fastener, such as a threaded bolt or screw, to enable horizontal support member  76  to be moved vertically to selectively adjust a position of masking disc  64  relative to spray nozzle  54 . Fastener  82  may engage an elongated slot  84  in support legs  72  and an aperture in mounting tabs  80  on horizontal support member  76 . Slot  84  enables the position of masking disc  64  to be adjusted vertically relative to spray nozzle  54 . The vertical position of masking disc  54  may be selectively adjusted by loosening fastener  82  and sliding horizontal support member  76  vertically to position masking disc  64  at a desired location relative to spray nozzle  54 . Masking disc  64  may be retained in the selected vertical position by retightening faster  82  to secure horizontal support member  76  to support legs  72 . The range of vertical adjustment of horizontal support member  76  is determined by a length of slot  84 . 
         [0030]    With reference to  FIGS. 5 and 6 , masking disc  64  may include an inverted generally bowl-shaped body  86  having an open end  88  and an opposite closed end  90  defined by an end wall  92 . Masking disc  64  may be oriented so that open end  88  faces downward and toward spray nozzle  54 . Body  86  may be generally shaped as a truncated cone with a sloping side wall  90  extending between open end  88  and closed end  90 . Open end  88  may have a larger diameter than closed end  90 , causing body  86  to flair outward from closed end  90  to open end  88 . Masking disc  64  may alternatively include a different shape and/or configuration to suit the requirements of a particular application. 
         [0031]    With reference to  FIGS. 2-5 , spray coating applicator  28  may include a motor  94  capable of rotating masking disc  64  about a masking disc axis of rotation  96 . An end  98  of motor  94  may be attached to horizontal support member  76 . Motor  94  may include a drive shaft  100  that extends outward from end  98  of motor  94  and vertically downward from horizontal support member  76 . A longitudinal axis of drive shaft  100  coincides with masking disc axis of rotation  96 . 
         [0032]    Motor  94  may include a variety of configurations and utilize various power sources, including but not limited to pneumatic, hydraulic and electrical. For example, motor  94  may be configured as a pneumatic motor powered by a stream of pressurized air delivered through a supply hose  102 . A pressure regulator  104  may be used to selectively control a pressure level of the air stream delivered to motor  94 . A dryer/filter  106  may be used to remove moisture and impurities from the air stream prior to being delivered to motor  94 . The pressurized air stream causes drive shaft  100  to rotate masking disc  64  about masking disc axis of rotation  96 . 
         [0033]    With reference to  FIGS. 2 and 4-6 , masking disc  64  operates to block portion  68  of spray  24  from reaching workpiece  26 . The blocked spray  68  may accumulate as liquid coating  22  on a lower surface  108  of masking disc  64 . A wiper  110  may be used to remove the accumulated liquid coating  22  from masking disc  64 . Wiper  110  may include a scraper blade  112  attached to a wiper arm  114 . An edge  116  of scraper blade  112  may be contoured to match a contour of lower surface  108  of masking disc  64 . Scraper blade  112  slides along lower surface  108  as masking disc  64  rotates to remove accumulated liquid coating  22  from masking disc  64 . Scraper blade  112  remains stationary while motor  94  rotates masking disc  64 . Liquid coating  22  removed from masking disc  64  is pulled by gravity from scraper blade  112  and falls into a collection tray  114  that rests on transverse slide plate  44 . Collection tray  114  may be periodically removed from transverse slide plate  44  and emptied of accumulated liquid coating  22 . Spray nozzle  54 , masking disc  64  and collection tray  114  are all moveable in unison with transverse slide plate  44 . 
         [0034]    With reference to  FIGS. 5 and 6 , an end  120  of wiper arm  114  may be attached to a wiper mounting shaft  122  extending between mounting tabs  80 . Wiper mounting shaft  122  may pivotally engage apertures in mounting tabs  80  that enable wiper mounting shaft  122  to be rotated about its longitudinal axis  124 . A threaded fastener  126  may be used to attach wiper arm  114  to wiper mounting shaft  122 . Wiper arm  114  may include a slotted opening  128  for receiving threaded fastener  126 , which itself engages a threaded aperture in wiper mounting shaft  122 . Slotted opening  128  enables a position of wiper  110  to be adjusted relative to masking disc  64 , which may be accomplished by loosening threaded fastener  126  and moving wiper  110  to a selected position. Wiper  110  may be secured to wiper mounting shaft  122  by tightening threaded fastener  126 . 
         [0035]    A biasing member  130 , such as a spring, may be used to maintain contact between scraper blade  112  and masking disc  64 . Biasing member  130  generates a counter-clockwise rotational force on wiper  110  (as viewed from a perspective of  FIG. 5 ) to maintain contact between scraper blade  112  and masking disc  64 . Biasing member  130  may have various configurations, and may include, for example, a coil spring  132  mounted on wiper mounting shaft  122 . A first end  134  of coil spring  132  may engage fastener  82  and a second end  136  may engage a tab  138  on wiper arm  114 . Biasing member  130  may alternatively include a different configuration. 
         [0036]    With reference to  FIGS. 1, 2 and 7-9 , spray coating application system  20  may include a cam system  140  that operates to actively adjust a position of spray nozzle  54  relative to guide rail  30  when moving spray coating applicator  28  lengthwise along guide rail  30 . Cam system  140  may include a cam  142  and a cam follower  144  that tracks along cam  142 . Cam follower  144  may be attached to transverse slide plate  44 , which moves in unison with cam follower  144  in the transverse direction  42 . 
         [0037]    Cam follower  144  may include a generally cylindrically-shaped roller  146  rotatably connected to a cam follower mounting bracket  148 . Cam follower mounting bracket  148  may be attached to transverse slide plate  44  using fasteners  150  that engage apertures in cam follower mounting bracket  148  and attach to transverse slide plate  44 . Various types of fasteners may be used, including but not limited to, screws, bolts and rivets. The apertures in cam follower mounting bracket  148  may be configured as elongated slots to enable positioning of cam follower  14  on transverse slide plate  44 . In applications where the ability to adjust the position of cam follower  144  is not necessary or desirable, cam follower  144  may alternatively be connected to transverse slide plate  44  using various other permanent or semi-permanent attachment mechanisms, such as, for example, welding, brazing and adhesives. 
         [0038]    Cam follower  144  may include a roller  146  attached to an end of cam follower mounting bracket  148  opposite fasteners  150 . Roller  146  may be attached to cam follower mounting bracket  148  using a bolt  152  or another type of fastener. Roller  146  may be configured to rotate about a roller axis of rotation  154  as roller  146  tracks along cam  142 . 
         [0039]    Cam follower  144  may alternatively include a different configuration. For example, cam follower  144  may be configured to slide rather than roll along cam  142 . Various coatings and/or lubricants may be applied to one of both of cam follower  144  and cam  142  to reduce frictional drag as cam follower  142  slides along cam  142 . 
         [0040]    With reference to  FIGS. 2 and 7 , cam  142  may include various configurations depending in part on the design requirements of a particular application. For example, cam  142  may include an elongated cam plate  156  attached to a support member  158 . One or more cam mounting brackets  160  may be attached to support member  158 . Cam mounting bracket  160  may be used to secure cam  142  to a stationary feature, such as floor  32  of the production facility, guide rail  30 , or another object that remains substantially stationary relative to guide rail  30 . Cam  142  may be aligned generally parallel to longitudinal axis  34  of guide rail  30 . Cam follower  144  may be moved along a cam surface  162  of cam plate  156  when spray coating applicator  28  is moved along guide rail  30 . Cam surface  162  may be contoured to cause transverse slide plate  44 , and correspondingly spray nozzle  54 , to move in a predetermined manner in the transverse direction between first transverse position  43  and a second transverse position  45  to accommodate changes in the contour of workpiece  26  and maintain a generally consistent spacing between spray nozzle  54  and workpiece  26 . 
         [0041]    Cam  142  may extend the entire length of guide rail  30  or only a portion of its length. Cam  142  may include a single cam or multiple cams arranged generally end-to-end or spaced apart. It is not necessary that cam surface  162  of each cam  142  in a multiple cam configuration be similarly configured, as one or more of the cam surfaces  162  may have a similar or different contour than any of the other cam surfaces. 
         [0042]    With reference to  FIG. 9 , slide mechanism  38  may include a biasing member  164  having a first end  166  attached longitudinal slide plate  40  and an opposite second end  168  attached to transverse slide plate  44 . Biasing member  164  generates a biasing force used to maintain contact between cam follower  144  and cam  142 . The location at which second end  168  of biasing member  164  is attached to transverse slide plate  44  is spaced further from cam follower  144  than the location at which first end  166  of biasing member  164  is attached to longitudinal slide plate  40 . Biasing member  164  may have any of various configurations. In the illustrated example, biasing member  164  is configured as a coil spring, but other differently configured biasing mechanisms may also be employed. 
         [0043]    A spray application process in which spray coating application system  20  applies a layer of liquid coating  22  to workpiece  26  is described with reference to  FIGS. 7 and 8 . In the illustrated example, workpiece  26  is configured as an automotive vehicle body  170 . Vehicle body  170  may include a relatively flat longitudinal region  172  with minimal contour change laterally. Longitudinal region  172  may extend from a front edge  174  of a rear wheel opening  176  to a leading edge  178  of a front door  180 . Vehicle body  170  may also include a flaired region  182  that extends from leading edge  178  of front door  180  to a front wheel opening  184 . Flaired region  182  extends outward and toward guide rail  30 , thereby reducing a spacing between guide rail  30  and vehicle body  170  in the vicinity of flaired region  182 . Spray coating application system  20  may also be used to apply liquid coating  22  to differently configured vehicle bodies as well as other types of workpieces, and is not limited to automotive components. 
         [0044]    Spray coating application system  20  operates to move spray coating applicator  28  along guide rail  30  from first longitudinal position  29  to second longitudinal position  31  while discharging a stream of liquid coating  22  from spray nozzle  54  in the form of spray  24 .  FIG. 8  illustrates spray coating applicator  28  positioned in first longitudinal position  29  (spray coating applicator  28  depicted in phantom) and second longitudinal position  31  (spray coating applicator  28  depicted in solid line). Spray coating applicator  28  may be selectively moved from first longitudinal position  29  to second longitudinal position  31  while applying a layer of liquid coating  22  to vehicle body  170 . Spray coating applicator  28  may initially be positioned in first longitudinal position  29 . Liquid coating may be sprayed onto workpiece  26  while moving spray coating applicator  28  from first longitudinal position  29  toward second longitudinal position  30 . As spray coating applicator  28  approaches flaired region  182  of vehicle body  170 , cam follower  144  begins traveling along an inclined region  186  of cam  142 . Inclined region  186  may be configured to generally mirror the contour of flaired region  182 . As cam follower  144  travels along inclined region  186  of cam  142 , transverse slide plate  44 , to which spray nozzle  54  is attached, is moved in the transverse direction  42  relative to longitudinal slide plate  40  and guide rail  30 . This movement enables spray nozzle  54  to be maintained at a generally uniform spacing from vehicle body  170  as spray coating applicator  28  passes over longitudinal region  172  and flaired region  182  of vehicle body  170 . Returning spray coating applicator to first longitudinal position  29  causes cam follower  144  to track back along inclined region  185  of cam  142  and enables biasing member  164  to move transverse slide plate  44  back to its original position relative to guide rail  30  and longitudinal slide plate  40 . 
         [0045]    It is intended that the scope of the present methods and apparatuses be defined by the following claims. However, it must be understood that the disclosed systems and methods may be practiced otherwise than is specifically explained and illustrated without departing from its spirit or scope. It should be understood by those skilled in the art that various alternatives to the configurations described herein may be employed in practicing the claims without departing from the spirit and scope as defined in the following claims. The scope of the disclosed systems and methods should be determined, not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. It is anticipated and intended that future developments will occur in the arts discussed herein, and that the disclosed systems and methods will be incorporated into such future examples. Furthermore, all terms used in the claims are intended to be given their broadest reasonable constructions and their ordinary meanings as understood by those skilled in the art unless an explicit indication to the contrary is made herein. In particular, use of the singular articles such as “a,” “the,” “said,” etc., should be read to recite one or more of the indicated elements unless a claim recites an explicit limitation to the contrary. It is intended that the following claims define the scope of the device and that the method and apparatus within the scope of these claims and their equivalents be covered thereby. In sum, it should be understood that the device is capable of modification and variation and is limited only by the following claims.