Patent Publication Number: US-8113511-B2

Title: Document deskewing module with a moving track bottom and methods of operating a document deskewing module

Description:
BACKGROUND 
     The present invention relates to self-service document depositing terminals, and is particularly directed to a document deskewing module with a moving track bottom for use in a self-service bunch document depositing terminal, such as a bunch document depositing automated teller machine (ATM), and methods of operating such a deskewing module. 
     In a typical bunch document depositing ATM, an ATM customer is allowed to deposit a bunch of documents of the same type such as currency notes or checks (without having to place any of the documents in a deposit envelope) in a publicly accessible, unattended environment. To deposit a bunch of documents, the ATM customer inserts a user identification card through a user card slot at the ATM, enters the amount of the bunch of documents being deposited, and inserts the bunch of documents to be deposited through a slot of a bunch document acceptor. A document transport mechanism receives the inserted bunch of documents and then separates and transports the documents one-by-one in a forward direction along a document transport path to a number of locations within the ATM to process the documents. 
     If a particular document is not accepted for deposit, the document transport mechanism transports the entire bunch of documents in a manner to return the bunch of documents to the ATM customer. If the entire bunch of documents is accepted for deposit, the amount of the bunch of documents is deposited into the ATM customer&#39;s account and the documents are transported one-by one to a number of storage bins within the ATM. If a bunch of documents is a bunch of checks, an endorser printer prints an endorsement onto each check as the check is being transported to and stored in a check storage bin. If a bunch of documents is a bunch of currency notes, then each currency note is transported to and stored in a currency storage bin. Documents in the different storage bins within the ATM are periodically picked up and physically transported via courier to a back office facility of a financial institution for further processing. 
     After the documents are separated from the bunch, they need to be deskewed before continuing down the document transport path. It is desirable to deskew the skewed document before it is processed at the different locations within the ATM to improve image-based recognition rates, to improve magnetic read rates, to print the proper print zones, and to reduce document jam rates. 
     Document deskewing modules for use in ATMs are known. However, these known document deskewing modules are designed to deskew only one type of document (e.g., either a currency note or a check, but not both). When a document deskewing module is designed to deskew only one type of document, the module is usually effective in deskewing a document of only that particular type. This is because different types of documents are of different sizes, different thicknesses, different paper grades, or the like, for examples. 
     Moreover, known document deskewing modules may have difficulty deskewing certain currency notes because of condition of these currency notes. For example, a “limp” currency note is usually difficult to transport along the document transport path as well as to deskew while being transported along the document transport path. This is because a leading front corner of the limp note may curl excessively when the corner makes contact with a track bottom of the document transport path as the currency note is being deskewed. When the corner of the note curls excessively, the corner may bunch up and cause a document jam condition. It would be desirable to provide a document deskewing module which is effective to deskew a relatively non-stiff document, such as a limp currency note, without having the document curl and bunch up as the document is being deskewed. 
     SUMMARY 
     In accordance with one embodiment of the present invention, a document deskewing module is provided for a self-service bunch document depositing terminal. The document deskewing module comprises a set of sensors arranged to detect when a document transported in a first direction of document travel along a document transport path is deskewed, a first set of drive rollers in the form of hard drive rollers disposed along the document transport path, a first set of idler rollers moveable towards and away from the hard drive rollers, a second set of drive rollers in the form of soft drive rollers disposed along the document transport path, a second set of idler rollers moveable towards and away from the soft drive rollers, a track bottom disposed on one side of the document transport path and movable in the first direction of document travel, and a controller arranged to (i) control operation of the first and second sets of idler rollers in response to a number of signals from the set of sensors such that a deskewed document is moved in a second direction of document travel which is transverse to the first direction of document travel, and (ii) control operation of the movable track bottom such that a leading front corner of the deskewed document is moved in the first direction of document travel when the corner moves into contact with the track bottom as the document is moving in the second direction of document travel so as to reduce tendency of the corner of the document from curling and thereby to reduce tendency of the corner from bunching up and causing a document jam condition. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the accompanying drawings: 
         FIG. 1  is a left-front perspective view of a bunch document depositing automated teller machine (ATM) constructed in accordance with one embodiment of the present invention; 
         FIG. 2  is a simplified schematic diagram, looking approximately in the direction of arrow X in  FIG. 1 , and illustrating a scalable deposit module (SDM) configured to operate in the ATM of  FIG. 1 ; 
         FIG. 3  is a left-front perspective view of the SDM of  FIG. 2 ; 
         FIG. 4  is a top perspective view, looking approximately in the direction of arrow Y in  FIG. 3 ; 
         FIG. 5  is a view similar to the top perspective view of  FIG. 4 , with some parts removed to better illustrate parts of a document deskewing module constructed in accordance with one embodiment of the present invention; 
         FIG. 6  is a bottom perspective view, looking approximately in the direction of arrow Z shown in  FIG. 5 ; 
         FIG. 7  is a enlarged view of certain components of a moving track bottom mechanism shown in  FIG. 5 ; 
         FIG. 8  is an exploded view of components shown in  FIG. 7 ; 
         FIG. 9  is an elevational view of components shown in  FIG. 7 ; 
         FIG. 10  is sectional view taken approximately along line  10 - 10  of  FIG. 9 ; 
         FIG. 11  is a perspective view, looking approximately in the direction of arrow B shown in  FIG. 4 , of an enlarged view of the moving track bottom mechanism of  FIG. 7  being mechanically coupled to other components of the document deskewing module; 
         FIG. 12  is a perspective view similar to  FIG. 5 , and showing a skewed document being transported along a document transport path; 
         FIG. 13  is a perspective view similar to  FIG. 12 , and showing the document at another position along the document transport path and contacting the moving track bottom mechanism of  FIG. 7 ; and 
         FIG. 14  is a perspective view similar to  FIG. 13 , and showing the document in yet another position along the document transport path. 
     
    
    
     DETAILED DESCRIPTION 
     The present invention is directed to a document deskewing module with a moving track bottom for use in a for a self-service bunch document depositing terminal, such as a bunch document depositing automated teller machine (ATM), and methods of operating such a deskewing module. 
     Referring to  FIG. 1 , a self-service bunch document depositing terminal in the form of an image-based bunch document depositing automated teller machine (ATM)  10  is illustrated. The check depositing ATM  10  comprises a fascia  12  coupled to a chassis (not shown). The fascia  12  defines an aperture  16  through which a camera (not shown) images a customer of the ATM  10 . The fascia  12  also defines a number of slots for receiving and dispensing media items, and a tray  40  into which coins can be dispensed. The slots include a statement output slot  42 , a receipt slot  44 , a card reader slot  46 , a cash slot  48 , another cash slot  50 , and a bunch document input/output slot  52 . The slots  42  to  52  and tray  40  are arranged such that the slots and tray align with corresponding ATM modules mounted within the chassis of the ATM  10 . 
     The fascia  12  provides a user interface for allowing an ATM customer to execute a transaction. The fascia  12  includes an encrypting keyboard  34  for allowing an ATM customer to enter transaction details. A display  36  is provided for presenting screens to an ATM customer. A fingerprint reader  38  is provided for reading a fingerprint of an ATM customer to identify the ATM customer. The user interface features described above are all provided on an NCR PERSONAS (trademark) 6676 ATM, available from NCR Financial Solutions Group Limited, Discovery Centre, 3 Fulton Road, Dundee, DD2 4SW, Scotland. 
     Referring to  FIGS. 2 and 3 , one embodiment of a scalable deposit module (SDM)  60  is illustrated.  FIG. 2  is a simplified schematic diagram (looking approximately in the direction of arrow X in  FIG. 1 ) of part of the fascia  12  and main parts of the SDM  60 .  FIG. 3  is a left-front perspective view of the SDM  60  shown in  FIG. 2 . 
     The SDM  60  of  FIGS. 2 and 3  comprises five main units which include an infeed module  70 , a transport module  80 , a pocket module  90 , an escrow re-bunch module (ERBM)  99 , and a document deskewing module  200 . The infeed module  70  receives a bunch of documents deposited into the bunch document input/output slot  52 , and transports the documents one-by-one to an inlet of the transport module  80 . The dimensions of the infeed module  70 , such as its run length, may vary depending upon the particular model ATM the SDM  60  is installed. The structure and operation of the infeed module  70  are conventional and well known and, therefore, will not be described. 
     The transport module  80  includes a document transport mechanism which receives a document from the inlet adjacent to the infeed module  70 , and transports the document along a first document track portion  61  which is the main track portion. The transport module  80  further includes a document diverter  82  which is operable to divert a document along a second document track portion  62  to the pocket module  90 , and a third document track portion  63  which leads to the ERBM  99  and then back to the infeed module  70 . The third document track  63  allows a bunch of documents which has accumulated in the ERBM  99  to be transported back to the infeed module  70 . The structure and operation of diverter  82  shown in  FIG. 2  may be any suitable diverter which is capable of diverting a document along one of two different document transport paths. The structure and operation of diverter  82  are conventional and well known and, therefore, will not be described. 
     The transport module  80  further includes a magnetic ink character recognition (MICR) head  83  for reading magnetic details on a code line of a check. The transport module  80  also includes an imager  84  including a front imaging camera  85  and a rear imaging camera  86  for capturing an image of each side of a check (front and rear). An endorser printer  88  is provided for printing endorsements onto checks. An image data memory  94  is provided for storing images of checks. A controller  95  is provided for controlling the operation of the elements within the SDM  60 . 
     The pocket module  90  includes a check storage bin  91  ( FIG. 3 ) for storing processed checks. The pocket module  90  further includes a currency storage bin  92  for storing processed currency notes. The pocket module  90  also includes a reject bin  93  for storing rejected documents. The structure and operation of the pocket module  90  are conventional and well known and, therefore, will not be described. 
     The SDM  60  processes a bunch of documents of different types (such as currency notes, checks, or a combination thereof). When a bunch of documents is being processed, each document of the bunch is separated at the infeed module  70  before it is individually processed. Each processed document is then re-assembled at the ERBM  99  to bunch the documents back together. Bunch processing of different types of documents is sometimes referred to as “multiple-document processing”. Since individual documents are being bunched back together, an escrow module (such as the ERBM  99  shown in  FIGS. 2 and 3 ) is needed. The ERBM  99  is manufactured and available from Glory Products, located in Himeji, Japan. The ERBM  99  allows a bunch of documents to be processed in a single transaction. If a bunch of documents has accumulated in the ERBM  99  and is unable to be processed further within the SDM  60 , then the bunch of documents is transported via the third document track portion  63  back to the infeed module  70  to return the unprocessed bunch of documents to the ATM customer. 
     Referring to  FIGS. 4 ,  5 , and  6 , the document deskewing module  200  includes a top guide assembly  202  ( FIG. 4 ) which guides a document in the direction of arrow A along the first document track portion  61  ( FIG. 5 ).  FIG. 4  is a top perspective view, looking approximately in the direction of arrow Y in  FIG. 3 .  FIG. 5  is a view similar to the top perspective view of  FIG. 4 , with some parts including the top guide assembly  202  removed to better illustrate certain parts of the document deskewing module  200 .  FIG. 6  is a bottom view, looking approximately in the direction of arrow Z shown in  FIG. 5 . 
     As shown in  FIG. 5 , the document deskewing module  200  includes a moving track bottom mechanism  250  which provides a relatively straight reference surface or edge against which a document abuts as the document is being transported along the first document track portion  61  in the direction of arrow A. This reference surface or edge is referred to herein as the track bottom. Structure and operation of one embodiment of the moving track bottom mechanism  250  will be described later hereinbelow. 
     A first set of track sensors  206   a ,  206   b ,  206   c  detects progress of the document as the document is being transported from an upstream end of the first document track portion  61  to a downstream end of the first document track portion. A second set of track sensors  208   a ,  208   b ,  208   c ,  208   d  detects when the document has been deskewed in a manner to be described hereinbelow. 
     A first set of drive rollers  210   a ,  210   b ,  210   c  ( FIG. 5 ) cooperates with a first set of idler rollers  212   a ,  212   b ,  212   c  ( FIG. 4 ) to advance the document downstream along the first document track portion  61 . The first set of drive rollers  210   a ,  210   b ,  210   c  operate in direct contact with the opposing idlers  212   a ,  212   b ,  212   c  giving a large drive force and is referred to herein as the hard drive rollers. The first set of idler rollers  212   a ,  212   b ,  212   c  is referred to herein as the hard drive idlers. The hard drive rollers  210   a ,  210   b ,  210   c  lie “parallel” to the direction of document movement as indicated by arrow A shown in  FIG. 5 . A set of compression springs  214   a ,  214   b ,  214   c  ( FIG. 4 ) maintains the set of hard drive idlers  212   a ,  212   b ,  212   c  in contact with the opposing set of hard drive rollers  210   a ,  210   b ,  210   c . A first set of lifter arms  314   a ,  314   b ,  314   c  allows the set of hard drive idlers  212   a ,  212   b ,  212   c  to be disengaged from the set of hard drive rollers  210   a ,  210   b ,  210   c , in a manner to be described later herein. 
     A second set of drive rollers  310   a ,  310   b  ( FIG. 5 ) cooperates with a second set of idler rollers  312   a ,  312   b  ( FIG. 4 ) to direct the document against the track bottom. The second set of drive rollers  310   a ,  310   b  do not contact the opposing idlers  312   a ,  312   b  directly while operating giving a much lighter drive force and is referred to herein as the soft drive rollers. The second set of idler rollers  312   a ,  312   b  is referred to herein as the soft drive idlers. The soft drive rollers  310   a ,  310   b  are “angled” relative to the hard drive rollers  210   a ,  210   b ,  210   c  as shown in  FIG. 5 . Accordingly, the soft drive rollers  310   a ,  310   b ,  310   c  lie “angled” to the direction of document movement as indicated by arrow A shown in  FIG. 5 . A second set of lifter arms  316   a ,  316   b  allows the set of soft drive idlers  312   a ,  312   b  to move away from the set of soft drive rollers  310   a ,  310   b , in a manner to be described later herein. 
     As shown in  FIG. 5 , each of the soft drive rollers  310   a ,  310   b  has a corresponding one of U-shaped depressions  322   a ,  322   b . The U-shaped depression  322   a  is associated with the soft drive roller  310   a  and is disposed between a pair of tire surfaces  324   a  of the soft drive roller  310   a . The corresponding soft drive idler  312   a  ( FIG. 4 ) runs inside the U-shaped depression  322   a  of the soft drive roller  310   a , and does not contact soft drive roller  310   a . Similarly, the U-shaped depression  322   b  is associated with the soft drive roller  310   b  and is disposed between a pair of tire surfaces  324   b  of the soft drive roller  310   b . The corresponding soft drive idler  312   b  ( FIG. 4 ) runs inside the U-shaped depression  322   b  of the soft drive roller  310   b , and does not contact soft drive roller  310   b . A corresponding set of adjustment screws  318   a ,  318   b  allows the positions of the set of soft drive idlers  312   a ,  312   b  to be adjusted relative to the positions of the set of soft drive rollers  310   a ,  310   b.    
     Cooperation between the soft drive roller  310   a  and the soft drive idler  312   a  and cooperation between the soft drive roller  310   b  and the soft drive idler  312   b  are the same. For simplicity, only cooperation between the soft drive roller  310   a  and the soft drive idler  312   a  will be described hereinbelow. 
     When a document is transported along the first document track portion  61  and moves between the soft drive roller  310   a  and the soft drive idler  312   a , the soft drive idler deflects the document into the U-shaped depression  322   a . The amount of drive force from the tire surfaces  324   a  acting on the document depends upon the amount of deflection force from the document. The amount of deflection force from the document depends upon the extent to which the soft drive idler  312   a  is running inside of the U-shaped depression  322   a  (as determined by position of the adjustment screw  318   a ). 
     The amount of deflection force from the document also depends upon the relative stiffness (or relative limpness) of the particular document. For example, a relative stiffer document provides a greater amount of deflection force and, therefore, provides a greater amount of drive force (from the tire surfaces  324   a ) which acts on the document. Similarly, a relative limper document provides a lesser amount of deflection force and, therefore, provides a lesser amount of drive force (from the tire surfaces  324   a ) which acts on the document. The angle of the tire surfaces  324   a  relative to the direction of travel (as indicated by arrow A) of document causes the document to abut against the track bottom. 
     It should be apparent that the cooperation between the soft drive roller  310   a  and the soft drive idler  312   a  provides a variable drive force which acts on the document being transported along the first document track portion  61 . The variable drive force provided is such that relatively thicker or stiffer documents are driven harder, and relatively thinner or limper documents are driven more lightly. This variable drive force is advantageous because (i) a relatively thicker or stiffer document (such as one that has been folded, curled or crumpled) requires more drive force to overcome the friction of travelling down the first document track portion  61 , and (ii) a relatively thinner or limper document is less likely to deform as the document is more lightly pushed against the track bottom. 
     A first actuatable solenoid  230  ( FIG. 4 ) having an armature link  232  is operatively coupled through the first set of lifter arms  314   a ,  314   b ,  314   c  to the hard drive idlers  212   a ,  212   b ,  212   c . A second actuatable solenoid  234  having an armature link  236  is operatively coupled through the second set of lifter arms  316   a ,  316   b  to the soft drive idlers  312   a ,  312   b . When the first solenoid  230  is actuated, the hard drive idlers  212   a ,  212   b ,  212   c  are moved away from the hard drive rollers  210   a ,  210   b ,  210   c . At the same time, the second solenoid  234  is actuated and the soft drive idlers  312   a ,  312   b  are moved towards and running inside the U-shaped depressions  322   a ,  322   b  of the soft drive rollers  310   a ,  310   b.    
     When the first solenoid  230  is de-actuated, the armature link  232  releases the first set of lifter arms  314   a ,  314   b ,  314   c . At the same time, the second solenoid  234  is de-actuated and the second set of lifter arms  316   a ,  316   b  are lifted. These two actions cause the hard drive idlers  212   a ,  212   b ,  212   c  to engage the hard drive rollers  210   a ,  210   b ,  210   c , and at the same time, the soft drive idlers  312   a ,  312   b  to move away from or “disengage” the soft drive rollers  310   a ,  310   b . Accordingly, only one function of either hard drive rollers  210   a ,  210   b ,  210   c  or the soft drive rollers  310   a ,  310   b  is normally provided at any one time. 
     When a document first comes out the infeed module  70 , the document encounters the soft drive rollers  310   a ,  310   b  and the soft drive idlers  312   a ,  312   b  (i.e., the function of the soft drive rollers  310   a ,  310   b  is provided). The soft drive rollers  310   a ,  310   b  and the soft drive idlers  312   a ,  312   b  push the document against the track bottom until at least two of the deskew sensors  208   a ,  208   b ,  208   c ,  208   d  are blocked. When at least two of the deskew sensors  208   a ,  208   b ,  208   c ,  208   d  are blocked, the second solenoid  234  is de-actuated to “disengage” the soft drive rollers  310   a ,  310   b  and the solenoid  230  is de-actuated to engage the hard drive rollers  210   a ,  210   b    210   c . It should be noted that the soft drive rollers  310   a ,  310   b  need to be disengaged at this point. Otherwise, a relative thin or limp document will begin to curl and jam if it travels any significant distance with the angled soft drive rollers  310   a ,  310   b  engaged. The document is now deskewed and is transported to other parts of the SDM  60  under control of the hard drive rollers  210   a ,  210   b ,  210   c.    
     By using a document deskewing module as described hereinabove, it is conceivable that the hard drive rollers  210   a ,  210   b ,  210   c  be momentarily engaged if the document is detected to hesitate while under control of the soft drive rollers  310   a ,  310   b . This momentary engagement of the hard drive rollers  210   a ,  210   b ,  210   c  would act as a small “nudge” or “kick” to the document in an attempt to correct what is causing the document to hesitate. 
     Referring to  FIG. 7 , an enlarged view of components of the moving track bottom mechanism  250  is illustrated. An exploded view of the components shown in  FIG. 7  is illustrated in  FIG. 8 . Further,  FIG. 9  is an elevational view of the components shown in  FIG. 7 , and  FIG. 10  is sectional view taken approximately along line  10 - 10  of  FIG. 9 . 
     As best shown in  FIG. 8 , the moving track bottom mechanism  250  comprises two split half portions  252 ,  254  and a continuous endless belt  256  which is held between the two split half portions. More specifically, the belt  256  is routed around a set of four roller-shaped bearing surfaces  261 ,  262 ,  263 ,  264  disposed on the one half portion  254 . The belt  256  has an outer circumferential surface  255 , and forms a bight portion  257 . A set of four plastic rivet studs  271 ,  272 ,  273 ,  274  disposed on the other half portion  252  is coupled to the set of four roller-shaped bearing surfaces  261 ,  262 ,  263 ,  264  to maintain the belt  256  sandwiched between the two split half portions  252 ,  254 . The outer circumferential surface  255  of the belt  256  is exposed through a substantially rectangular opening between the two body portions. A pair of plastic rivet studs  266 ,  268  provides additional strength to hold the split half portions  252 ,  254  together. 
     Referring to  FIG. 11 , the bight portion  257  of the belt  256  passes through an opening  292  of a sidewall portion  290  of the document deskewing module  200 . The belt  256  is driven by a twisted belt  294  which, in turn, is driven by a main transport belt  296 . It should be noted that a small portion of the main transport belt  296  is shown in each of  FIGS. 3 ,  4 , and  5 . The main transport belt  296  is operatively coupled through a number of different gears and other belts to a main drive motor (not shown) which provides the main drive for the document deskewing module  200 . 
     Referring to  FIG. 12 , the outer circumferential surface  255  of the belt  256  is exposed through a channeled opening  259  which extends along the length of a baseplate portion  258  of the document deskewing module  200 . Accordingly, as best shown in  FIG. 7 , the outer circumferential surface  255  of the belt  256  from approximately the location at reference numeral  277  to the location at reference numeral  278  is exposed through the channeled opening  259  shown in  FIG. 12 . It should be noted that the second set of track sensors  208   a ,  208   b ,  208   c ,  208   d  are not shown in  FIG. 12  so that other parts can be more easily seen. The belt  256  is driven in a direction such that the outer circumferential surface of the belt  256  moves in the same direction of movement as a document moving downstream along the first document track portion  61 . 
     Also, as shown in  FIG. 12 , a document  280  is skewed and is moving from upstream to downstream in the forward direction of document travel along the first document track portion  61 . The skewed document  280  has a leading front corner portion  282  and a long edge portion  284 . As the document  280  continues to move downstream from the position shown in  FIG. 12  to the position shown in  FIG. 13 , the driving forces of the hard drive rollers  210   a  and the soft drive roller  310   a  causes the corner portion  282  of the document  280  to move into contact with the moving outer circumferential surface  255  of the belt  256 . 
     When contact occurs between the corner portion  282  of the document  280  and the moving outer circumferential surface  255  of the belt  256 , the corner portion tends to curl and fold over such as shown in  FIG. 13 . This tendency to curl and fold over is especially more likely when the document  280  is relatively limp, such as with an old and worn currency note. However, since the moving outer circumferential surface  255  of the belt  256  is moving downstream in the same direction as the document  280  is moving, the tendency of the corner portion  282  to curl and fold over is reduced. Preferably, the moving speed of the outer circumferential surface  255  in the forward direction of document travel is just slightly faster than the moving speed of the document  280  itself in the forward direction of document travel. 
     As the document  280  continues to move downstream in the forward direction of document travel from the position shown in  FIG. 13 , the document becomes deskewed such as shown in  FIG. 14 . As the document  280  deskews while moving from the position shown in  FIG. 13  to the position shown in  FIG. 14 , the corner portion  282  of the document is less likely to curl or fold because of the reduced drag. At the same time, the long edge portion  284  of the document  280  moves into contact with the moving outer circumferential surface  255  of the belt  256 . 
     It should be apparent that the belt  256  provides a moving track bottom which tends to reduce likelihood of the corner portion  282  of the document  280  from bunching up and causing a document jam condition. This is because the moving outer circumferential surface  255  of the belt  256  carries the corner portion  282  of the document  280  in the forward direction of document travel until the long edge portion  284  of the document moves into contact with the moving outer circumferential surface. Since the long edge portion  284  is stiffer than the corner portion  282 , the document  280  is able to continue movement in the forward direction of document travel with minimal deformation along the long edge portion. 
     Although the above description describes the PERSONAS (trademark) 6676 NCR ATM embodying the present invention, it is conceivable that other models of ATMs, other types of ATMs, or other types of self-service bunch document depositing terminals may embody the present invention. Self-service bunch document depositing terminals are generally public-access devices that are designed to allow a user to conduct a bunch document deposit transaction in an unassisted manner and/or in an unattended environment. Self-service bunch document depositing terminals typically include some form of tamper resistance so that they are inherently resilient. 
     The particular arrangements disclosed are meant to be illustrative only and not limiting as to the scope of the invention. From the above description, those skilled in the art to which the present invention relates will perceive improvements, changes and modifications. Numerous substitutions and modifications can be undertaken without departing from the true spirit and scope of the invention. Such improvements, changes and modifications within the skill of the art to which the present invention relates are intended to be covered by the appended claims.