Patent Publication Number: US-2022228349-A1

Title: System and method for determining parallel lift feedforward control for a wheel loader

Description:
BACKGROUND 
     This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present disclosure, which are described below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not as admissions of prior art. 
     The present disclosure relates generally to work vehicles and, more particularly, to a system or method for determining a parallel lift feedforward control for an implement (e.g., bucket) coupled to a work vehicle. 
     A wheel loader is commonly used to load and move substantial volumes of material (e.g., dirt and similar material) from one location to another. A wheel loader includes a relatively large frame and an implement (e.g., bucket) mounted to one end of the frame. The implement may be selectively elevated and selectively tilted to dump materials therefrom. Bi-directional self-level or parallel lift control is difficult via the existing electro-hydraulic control system. In particular, the electro-hydraulic system is kinematically sensitive. In addition, control precision of the existing electro-hydraulic valve is inadequate (e.g., there is no position feedback control for main stage spool of the electro-hydraulic valve). Further, heavy loading results in system delays (e.g., mechanically, hydraulically, and electrically). Even further, the interaction between the boom/bucket movement control and the load sensing system adds complexity. 
     BRIEF DESCRIPTION 
     This brief description is provided to introduce a selection of concepts that are further described below in the detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used as an aid in limiting the scope of the claimed subject matter. 
     In one embodiment, a method for determining parallel lift feedforward control of a bucket of a work vehicle is provided. The method includes calculating, via a controller, a current stroke length of a bucket cylinder at a current moment based on a current bell crank plate angle and a current boom angle. The method also includes predicting, via the controller, a future boom angle after a certain number of steps. The method further includes calculating, via the controller, a required bell crank plate angle from a learned cutting edge angle and the future boom angle. The method even further includes calculating, via the controller, a future stroke length of the bucket cylinder after the certain number of steps. The method yet further includes calculating, via the controller, an average speed command for bucket control based on the current stroke length and the future stroke length of the bucket cylinder. The method still further includes calculating, via the controller, a bucket cylinder control command based on the average speed command for bucket control. 
     In another embodiment, a processor-based system is provided. The processor-based system includes a non-transitory memory configured to store executable routines. The processor-based system also includes a processing component configured to execute the routines stored in the non-transitory memory, wherein the routines, when executed, cause acts to be performed. The acts include calculating a current stroke length of a bucket cylinder at a current moment based on a current bell crank plate angle and a current boom angle, wherein the bucket cylinder is coupled to a bucket of a work vehicle. The acts also include predicting a future boom angle after a certain number of steps. The acts further include calculating a required bell crank plate angle from a learned cutting edge angle and the future boom angle. The acts even further include calculating a future stroke length of the bucket cylinder after the certain number of steps. The acts yet further include calculating an average speed command for bucket control based on the current stroke length and the future stroke length of the bucket cylinder. The acts still further include calculating a bucket cylinder control command based on the average speed command for bucket control. 
     In a further embodiment, one or more non-transitory computer-readable media are provided. The computer-readable media encode one or processor-executable routines. The one or more routines, when executed by a processor, cause acts to be performed. The acts include calculating a current stroke length of a bucket cylinder at a current moment based on a current bell crank plate angle and a current boom angle, wherein the bucket cylinder is coupled to a bucket of a work vehicle. The acts also include predicting a future boom angle after a certain number of steps. The acts further include calculating a required bell crank plate angle from a learned cutting edge angle and the future boom angle. The acts even further include calculating a future stroke length of the bucket cylinder after the certain number of steps based on the required bell crank plate angle and the future boom angle. The acts yet further include calculating an average speed command for bucket control based on the current stroke length and the future stroke length of the bucket cylinder. The acts still further include calculating a bucket cylinder control command based on the average speed command for bucket control. 
    
    
     
       DRAWINGS 
       These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein: 
         FIG. 1  illustrates a side view of an embodiment of a work vehicle (e.g., wheel loader) equipped with an implement (e.g., bucket), in accordance with aspects of the disclosure; 
         FIG. 2  illustrates a schematic diagram of an embodiment of a control system (e.g., electro-hydraulic control system) coupled to a bucket cylinder, in accordance with aspects of the disclosure; 
         FIG. 3  illustrates a schematic diagram of the lift system in  FIG. 1  illustrating various angles and lengths; 
         FIG. 4  illustrates a flow chart of a method for determining parallel lift (PL) or bi-direction self-level) control of an implement of a work vehicle, in accordance with aspects of the disclosure; and 
         FIG. 5  is a schematic diagram illustrating movement of a bucket cylinder, a boom, and a cutting edge of a bucket during movement. 
     
    
    
     DETAILED DESCRIPTION 
     Certain embodiments commensurate in scope with the present disclosure are summarized below. These embodiments are not intended to limit the scope of the disclosure, but rather these embodiments are intended only to provide a brief summary of certain disclosed embodiments. Indeed, the present disclosure may encompass a variety of forms that may be similar to or different from the embodiments set forth below. 
     As used herein, the terms “inner” and “outer”; “up” and “down”; “upper” and “lower”; “upward” and “downward”; “above” and “below”; “inward” and “outward”; “aft” and “forward”; and other like terms as used herein refer to relative positions to one another and are not intended to denote a particular direction or spatial orientation. The terms “couple,” “coupled,” “connect,” “connection,” “connected,” “in connection with,” and “connecting” refer to “in direct connection with” or “in connection with via one or more intermediate elements or members.” Wherever possible, like or identical reference numerals are used in the figures to identify common or the same elements. The figures are not necessarily to scale and certain features and certain views of the figures may be shown exaggerated in scale for purposes of clarification. 
     Furthermore, when introducing elements of various embodiments of the present disclosure, the articles “a,” “an,” and “the” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. Additionally, it should be understood that references to “one embodiment” or “an embodiment” of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features. Furthermore, the phrase A “based on” B is intended to mean that A is at least partially based on B. Moreover, unless expressly stated otherwise, the term “or” is intended to be inclusive (e.g., logical OR) and not exclusive (e.g., logical XOR). In other words, the phrase A “or” B is intended to mean A, B, or both A and B. 
     Embodiments of the present disclosure relate generally to determining a parallel lift (PL) or bi-direction self-level (BSL) control for an implement (e.g., bucket) of a work vehicle (e.g., wheel loader). The feed forward command for PL or BSL control enables synchronous control based on boom angle participation. In particular, the feed forward command for PL or BSL control enables synchronous movement of the bucket and a boom of the work vehicle utilizing the electro-hydraulic control system. In particular, a tilt angle of the implement (e.g., bucket) is maintained (e.g., at a constant angle or within a narrow angular range (e.g., ±1 degree)). 
       FIG. 1  illustrates a side view of an embodiment of a work vehicle  10  (e.g., wheel loader) equipped with an implement  22  (e.g., bucket). As shown, the work vehicle  10  includes a pair of front tires  12 , (one of which is shown), a pair of rear tires  14  (one of which is shown) and a frame or chassis  16  coupled to and supported by the tires  12 ,  14 . An operator&#39;s cab  18  may be supported by a portion of the chassis  16  and may house various input devices for permitting an operator to control the operation of the work vehicle  10 . 
     Moreover, as shown in  FIG. 1 , the work vehicle  10  may include a lift assembly  20  for raising and lowering a suitable implement  22  (e.g., a bucket) relative to a driving surface of the vehicle  10 . In several embodiments, the lift assembly  20  may include a pair of loader arms  24  (one of which is shown) pivotally coupled between the chassis  16  and the implement  22 . For example, as shown in  FIG. 1 , each loader arm  24  (e.g., boom) may include a forward end  26  and an aft end  28 , with the forward end  26  being pivotally coupled to the implement  22  at a forward pivot point  30  and the aft end  28  being pivotally coupled to a portion of the chassis  16 . 
     In addition, the lift assembly  20  may also include a pair of hydraulic lift cylinders  32  (one of which is shown) coupled between the chassis  16  and the loader arms  24  and a hydraulic tilt cylinder  34  coupled between the chassis  16  and the implement  22  (e.g., via a pivotally mounted bell crank plate  36  or other mechanical linkage). It should be readily understood by those of ordinary skill in the art that the lift and tilt cylinders  32 ,  34  may be utilized to allow the implement  22  to be raised/lowered and/or pivoted relative to the driving surface of the work vehicle  10 . For example, the lift cylinders  32  may be extended and retracted in order to pivot the loader arms  24  upward and downwards, respectively, thereby at least partially controlling the vertical positioning of the implement  22  relative to the driving surface. Similarly, the tilt cylinder  34  (e.g., bucket cylinder) may be extended and retracted in order to pivot the implement  22  relative to the loader arms  24  about the forward pivot point  30 , thereby controlling the tilt angle or orientation of the implement  22  relative to the driving surface or ground. 
     As described in greater detail below, the lift assembly  20  is configured to enable BSL or PL control of the implement utilizing electro-hydraulic control to keep the cutting edge at a given tilt angle for all effective tilts (e.g., at positive or negative angles) as the boom (and thus the bucket) changes from a first position to a second position. In particular, a tilt angle of the implement (e.g., bucket) is maintained (e.g., at a constant angle or within a narrow angular range (e.g., ±1 degree)). In certain embodiments, the BSL control or PL control keeps the cutting edge parallel to the driving surface while being raised or lowered. In particular, the techniques described below enable automatically determining a PL or BSL feed forward control command signal for synchronous control (between the boom and the bucket) based on boom angle anticipation. 
       FIG. 2  is a schematic diagram of an embodiment of a control system  37  (e.g., electro-hydraulic control system) coupled to a bucket cylinder  34  (e.g., tilt cylinder  34  in  FIG. 1 ). It should be noted that other cylinders may be coupled to the control system  37 . Fluid flow along conduits  38 ,  39  controls the operation of the bucket cylinder  34  and, thus, the tilt position of the implement (e.g., bucket) about its horizontal axis. Fluid is provided from a reservoir  40  to the bucket cylinder  34  along the conduit  38  via a pump  42 . Fluid is returned to the reservoir  40  via the conduit  39 . A control valve (e.g., electro-hydraulic valve) or bucket valve  44  may be disposed along the conduits  38 ,  39 . The control valve  44  is responsive to control signals from a controller  46  that causes the control valve  44  to regulate fluid flow to and from the bucket cylinder  34 . 
     The controller  46  contains computer-readable instructions stored in memory  48  (e.g., non-transitory, tangible, and computer-readable medium/memory circuitry) and a processor  50  which executes the instructions. More specifically, the memory  48  may include volatile memory, such as random access memory (RAM), and/or non-volatile memory, such as read-only memory (ROM), optical drives, hard disc drives, or solid-state drives. Additionally, the processor  50  may include one or more application specific integrated circuits (ASICs), one or more field programmable gate arrays (FPGAs), one or more general purpose processors, or any combination thereof. Furthermore, the term processor is not limited to just those integrated circuits referred to in the art as processors, but broadly refers to computers, processors, microcontrollers, microcomputers, programmable logic controllers, application specific integrated circuits, and other programmable circuits. The processor  50  and memory  48  may be used collectively to support an operating system, software applications and systems, and so forth, useful implementing the techniques described herein. For example, the memory  48  may store instructions for determining a feedforward signal for PL or BSL control of the implement (e.g., bucket). The memory  48  may store a variety of lookup tables. For example, the memory  48  may store a lookup table (e.g., two-dimensional model-based lookup table) relating a joint to joint length or stroke length of the bucket cylinder  34  as a function of a bell crank plate angle (β bc ) and boom angle (β boom ). The memory  48  may also store a lookup table relating a bell crank plate angle to a cutting edge angle. The memory  48  may further store a calibrated bucket valve lookup table. The calibrated bucket valve lookup table relates calibrated bucket valve characteristics. In particular, the calibrated bucket valve lookup table relates a bucket cylinder control command as a function of an average speed command for bucket control. The calibrated bucket valve lookup table is derived at the end of boom valve full open saturation calibration. 
     The controller  46  may be coupled to a plurality of sensors  52  disposed throughout the lift system  20 . For example, the controller  46  may receive feedback regarding boom angle and bell crank plate angle via sensors  52  disposed on the boom (e.g., loader arm  24 ) and the bell crank plate  36 , respectively. In certain embodiments, the sensors  52  may be associated with specific joints. In certain embodiments, the sensors  52  may directly measure cylinder positions. In certain embodiments, the sensors  52  may include inertial measurement unit (IMU) type sensors on the various linkages. In general, any type of sensor for determining kinematic conditions may be utilized. 
     To facilitate discussion of the techniques for determining the feedforward command for PL or BSL control of the implement  22  (e.g., bucket), various angles and positions associated with the lift system  20  in  FIG. 1  are illustrated in  FIG. 3 . The components of the lift system  20  are as described in  FIG. 1 . Angle  54  (the boom angle, β boom ) is formed between a line  56  which connects a boom pin at location  1  (where aft end  28  of the boom  24  is pivotally coupled to the chassis  16 , located at coordinate x 30 , y 30 ) to bucket pin at location  9  (at the forward pivot point  30 ) and a horizontal direction or line  58  with the horizontal direction as zero degrees from a side view. The angle  54  is a negative value if lower than the horizontal direction and a positive value if higher than the horizontal direction. Angle  60  (α 519 ) is between line  56  and a line  62  connecting the boom pin at location  1  to a bell crank plate rotation joint  64  at location  5  (which is coordinate x 5 , y 5 ). The angle  60  is a constant angle. Angle  66  (β bc ) is between line  56  and a line  68  extending from the bell crank plate rotation joint  64  at location  5  in a collinear manner with a line  70  extending between location  4  (joint  72  where the bucket cylinder  34  couples to the bell crank plate  36  having coordinate x 4 , y 4 ) and location  5  (bell crank plate rotation joint  64 ). Angle  66  extends from a point along line  56 , forward of where lines  56 ,  68  intersect, towards line  68 . Angle  74  (β 154 ) is between line  70  and line  62 . Line  70  has a length  76  (L 45 ). Line  62  has a length  78  (L 15 ). Line  80  extends between a joint  82  at location  3  (where the bucket cylinder  34  is coupled to the loader arm or boom  24 ) and joint  72  at location  4 . Line  80  has a length  84  (e.g., joint to joint length or stroke length, X 34 ). 
       FIG. 4  illustrates a flow chart of a method  86  for determining PL or BSL control of an implement (e.g., bucket) of a work vehicle (e.g., wheel loader). One or more of the steps may be performed by the electro-hydraulic control system  37  in  FIG. 2  (e.g., controller  46 ). In utilizing the method  86 , it is assumed that the bucket control performance is consistent and independent of load condition, temperature variation, runaway load condition, regeneration circuit activation, and flow share condition. The method  86  enables determining PL or BSL&#39;s feedforward control contribution more accurately. 
     The method  86  includes only one tunable factor, N. N is the number of steps. In particular, N represents a boom angle prediction in a predetermined amount of time in the future. The predetermined time period in the future may vary. For example, the predetermined time period may be 5 milliseconds (ms), 10 ms, 15 ms, 20 ms, or another time period. For example, utilizing 10 ms for the time period, if N=1, then this is one step boom angle prediction (10 milliseconds (ms) in the future). If N=20, the boom angle will be predicted at 200 ms in the future. If N is too small, there may be a small signal-to-noise ratio (SNR) which could trigger instability, particularly, when the boom angle is near the vertex point. When a bucket cylinder is locked at a given stroke length, when the boom is lifted from bottom to top, the bucket cutting edge will tilt up and then down. The boom angle at this point where the bucket cutting edge tilts up and then down is the vertex point or vertex angle. When the boom is lowered from top to bottom, the changing tilt direction for the bucket cutting edge is at the same vertex point for the same bucket stroke length. If N is too large, the boom angle prediction may cause a deviation that could result in a large deviation in bucket valve flow control. Thus, starting with a number for N between 5 and 10 and then through tests a reasonable prediction step number N may be determined. In certain embodiments, N may vary depending on a sensitivity and/or noise signal amplitude, e.g., N=k×SNR, where k represents a modulation index. 
     The method  86  includes activating PL or BSL feed forward control determination (block  88 ). Activation may occur via an enabling signal from a switch (e.g., enable/disable switch) on a work vehicle (e.g., wheel loader) having the implement (e.g., bucket). In certain embodiments, one or more switches may enable comparing and/or selecting between the method  86  and another control technique. 
     The method  86  also includes calculating a joint to joint length or stroke length (length  84  (X 34 ) in  FIG. 3 ) of a bucket cylinder at a current moment or step based on a current bell crank plate angle (β bc ) and current boom angle (β boom ) (block  90 ). The current bell crank plate angle and current boom angle come from sensors associated with the lift system as described above. In certain embodiments, the joint to joint length of the bucket cylinder may be determined by utilizing a lookup table (e.g., two-dimensional model-based lookup table) relating a joint to joint length or stroke length of the bucket cylinder  34  as a function of a bell crank plate angle (β bc ) and boom angle (β boom ), where X 34 =f(β bc , β boom ). The lookup table is created offline and stored in memory. The lookup table may vary in size or style. For example, the lookup table may include a matrix of 21×21, which means that every grid is approximately greater than 4 degrees. In another example, if higher precision is desired near the nonlinear region, a 41×41 matrix may be utilized. 
     In certain embodiments, the joint to joint length of the bucket cylinder may be calculated (e.g., online) in response to a function call utilizing model-based kinematic information. Utilizing the model-based kinematic information includes determining a bell crank plate rotation joint coordinate (x 5 , y 5 ), where x 5 =L 15  cos(β boom +α 519 ) and y 5 =L 15  sin(β boom +α 519 ). Utilizing the model-based kinematic information also includes determining the angle, β 154 , between L 15  and L 45 , where β 154 =π−β bc +α 519 . Utilizing the model-based kinematic information further includes determining the bucket cylinder rod joint&#39;s coordinate (x 4 , y 4 ), where 
     
       
         
           
             
               
                 x 
                 4 
               
               = 
               
                 
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                 + 
                 
                   
                     
                       L 
                       45 
                     
                     
                       L 
                       15 
                     
                   
                   ⁢ 
                   
                     ( 
                     
                       
                         
                           - 
                           
                             x 
                             5 
                           
                         
                         ⁢ 
                         
                           cos 
                           ⁡ 
                           
                             ( 
                             
                               β 
                               154 
                             
                             ) 
                           
                         
                       
                       - 
                       
                         
                           y 
                           5 
                         
                         ⁢ 
                         
                           sin 
                           ⁡ 
                           
                             ( 
                             
                               β 
                               154 
                             
                             ) 
                           
                         
                       
                     
                     ) 
                   
                   ⁢ 
                   
                       
                   
                   ⁢ 
                   and 
                 
               
             
             ⁢ 
             
                 
             
           
         
       
       
         
           
             
               y 
               4 
             
             = 
             
               
                 y 
                 5 
               
               + 
               
                 
                   
                     L 
                     45 
                   
                   
                     L 
                     15 
                   
                 
                 ⁢ 
                 
                   
                     ( 
                     
                       
                         
                           x 
                           5 
                         
                         ⁢ 
                         sin 
                         ⁢ 
                         
                             
                         
                         ⁢ 
                         
                           ( 
                           
                             β 
                             154 
                           
                           ) 
                         
                       
                       - 
                       
                         
                           y 
                           5 
                         
                         ⁢ 
                         
                           cos 
                           ⁡ 
                           
                             ( 
                             
                               β 
                               154 
                             
                             ) 
                           
                         
                       
                     
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                   . 
                 
               
             
           
         
       
     
     The joint to joint length or stroke length of the bucket cylinder is calculated with the following: X 34 =√{square root over ((x 4 −x 30 ) 2 +(y 4 −y 30 ) 2 )}. 
     Selection between online calculation and lookup table for calculating the joint to joint length of the bucket cylinder may depend on a software&#39;s preference in memory size, calculation precision, and calculation reliability. The lookup table would be simple, reliable, and accurate, if more a larger table index number is allowed. However, online calculation takes less memory since only 5 items of the kinematics information are stored (i.e., L 45 , L 15 , α 519 , x 30 , and y 30 ). 
     The method  86  further includes predicting a future boom angle, β boomN , after a certain number, N, of steps (block  92 ). The method  86  even further includes calculating a required bell crank plate angle, β bcN , after N steps from a learned cutting edge angle, β cuttingEdgeCMD , and the future boom angle, β boomN  (block  94 ). In certain embodiments, a lookup table relating a bell crank plate angle to a cutting edge angle may be utilized in calculating the required bell crank plate angle. The method  86  still further includes calculating a future joint to joint or stroke length of the bucket cylinder, X 34N , after N steps (block  96 ) based on both the required crank plate angle, β bcN , and the future boom angle, β boomN . In certain embodiments, the same lookup table utilized in block  90  may be utilized for block  96 . In certain embodiments, in response to a function call, online calculation utilizing model-based kinematic information as described for block  90  may be utilized for block  96 . 
     The method  86  yet further includes calculating an average cylinder speed requirement for the bucket cylinder or average speed command for bucket control of the bucket cylinder (block  98 ). Calculating the average cylinder speed requirement or average speed command for bucket control is based on the future stroke length and the current stroke length of the bucket cylinder (in particular, the difference between the future stroke length and the current stroke length). In particular, the average cylinder speed requirement or average speed command for bucket control is calculated utilizing the following: 
     
       
         
           
             
               
                 BK 
                 ctrlCMD_mmPs 
               
               = 
               
                 
                   ( 
                   
                     
                       X 
                       
                         34 
                         ⁢ 
                         N 
                       
                     
                     - 
                     
                       X 
                       34 
                     
                   
                   ) 
                 
                 
                   N 
                   × 
                   Δ 
                   ⁢ 
                   
                       
                   
                   ⁢ 
                   t 
                 
               
             
             , 
           
         
       
     
     where a sampling interval time is Δt. The sampling interval time may vary. One example of the sampling interval time is Δt=0.01 seconds. 
     The method  86  further includes calculating a bucket cylinder control command based on the average cylinder speed requirement or average speed command for bucket control (block  100 ). Calculating the bucket cylinder control command may include applying or utilizing a calibrated bucket valve lookup table. The calibrated bucket valve lookup table relates calibrated bucket valve characteristics. In particular, the calibrated bucket valve lookup table relates a bucket cylinder control command as a function of an average speed command for bucket control as shown by BK ctrlCMD_kPa =f(BK ctrlCMD_mmPs ). The calibrated bucket valve lookup table covers the full valve operation range from valve crack open to flow saturation control. 
     The method  86  also includes providing the calculated bucket cylinder control command during PL or BSL control to cause synchronous movement of the bucket and the boom of the work vehicle (block  102 ) to keep the cutting edge at a given tilt angle for all effective tilts (e.g., at positive or negative angles) as the boom (and thus the bucket) changes from a first position to a second position. In particular, a tilt angle of the implement (e.g., the cutting edge of the bucket) is maintained (e.g., at a constant angle or within a narrow angular range (e.g., ±1 degree)). A couple of different tilt angles are illustrated in  FIG. 5  for the cutting edge of the implement  22   FIG. 5  illustrates the movement of the bucket cylinder  34 , boom  24 , and cutting edge of the bucket  22  during movement (e.g., raising or lowering of the bucket  22 ). Solid line  106  represents the cutting edge at a first angle (with the cutting edge being parallel to a horizontal line or a driving surface of the work vehicle). Dashed line  108  represents the cutting edge at a second angle (e.g., positive tilt angle relative to a horizontal line) different from the first angle. In both examples, the angle of the cutting edge remains constant as the boom  24  is raised or lowered. Returning to  FIG. 4 , the method  86  further includes determining if PL or BSL control is deactivated (block  104 ). If PL or BSL control is not deactivated, the method  86  continues (block  90 ). If PL or BSL control is deactivated, the method  86  has ended (block  104 ). 
     The foregoing description, for purpose of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. Moreover, the order in which the elements of the methods described herein are illustrate and described may be re-arranged, and/or two or more elements may occur simultaneously. The embodiments were chosen and described in order to best explain the principals of the disclosure and its practical applications, to thereby enable others skilled in the art to best utilize the disclosure and various embodiments with various modifications as are suited to the particular use contemplated. 
     The techniques presented and claimed herein are referenced and applied to material objects and concrete examples of a practical nature that demonstrably improve the present technical field and, as such, are not abstract, intangible or purely theoretical. Further, if any claims appended to the end of this specification contain one or more elements designated as “means for [perform]ing [a function] . . . ” or “step for [perform]ing [a function] . . . ”, it is intended that such elements are to be interpreted under 35 U.S.C. 112(f). However, for any claims containing elements designated in any other manner, it is intended that such elements are not to be interpreted under 35 U.S.C. 112(f).