Patent Publication Number: US-7898147-B2

Title: Wireless actuator interface

Description:
FIELD OF THE INVENTION 
     This invention relates in general to industrial controls, and in particular to electronically configurable actuators. 
     BACKGROUND 
     Actuators are widely used in all areas of mechanical design. Generally, actuators are transducers that transform an input signal into mechanical motion. Actuators may use any combination of electrical motors, pneumatic and hydraulic pistons, relays, comb drives, piezoelectric elements, thermal bimorphs, and similar devices to provide mechanical motion. An actuator may provide any combination of linear, curved, or rotary forces/motion. 
     Motors are commonly used in actuators when circular motions are needed, but can also be used for linear applications by transforming circular to linear motion, e.g., using screw drives. Other actuators may intrinsically linear, such as those using linear motors. Actuators may include a wide variety of mechanical elements to change the nature of the motion provided by the actuating/transducing element, including levers, ramps, screws, cams, crankshafts, gears, pulleys, constant-velocity joints, ratchets, etc. 
     Actuators may vary widely in size and power. Very large actuators may be used in applications such as dam gates or construction equipment. On the other end of the spectrum, actuators have been developed at micro- and nano-scales that may be used for such applications as robotics and medical technology. One technological area that commonly uses actuators is industrial controls, including specialty areas of heating, ventilation, and air conditioning (HVAC) and fire detection/suppression. 
     Modern actuators used in HVAC and fire/smoke systems are becoming increasingly sophisticated. The added functionality is due at least in part to the availability of inexpensive and powerful digital processing circuitry. For example, actuators may have electronic controlled and integrated auxiliary switches, multiple input selectable input modes, and adjustments for such settings as minimum/maximum travel, timing, speed, etc. At the same time, the actuator products themselves are shrinking in size due to concerns regarding ease of installation, weight, power consumption, performance, etc. As a result, it is becoming more difficult to allow such actuators to be easily accessed by people for setting up and changing built-in automatic features of the actuators. In addition, externally mounted controls (e.g., switches, potentiometers, etc.) are often difficult to access and see in many installations. Further, hard mounted controls are susceptible to environmental factors (e.g., dust, fluids, vibration) that can degrade these types of controls and thereby reduce reliability. 
     Therefore, a sophisticated yet user friendly way of providing control and setup of actuators is desirable. Such control provisions should allow such actuators to keep small form-factors, and reduce the degrading effects of the operational environment. The present invention fulfills these and other needs, and offers other advantages over the prior art. 
     SUMMARY 
     The present disclosure relates to actuators, in particular to electronically configurable actuators. In one embodiment of the invention, an actuator includes a mechanical transducer component capable of applying a mechanical force to an external object in response to electronic signals. The actuator includes a communications interface capable of wirelessly receiving configuration data related to operation of the actuator. A settings module is coupled to the communications interface and capable of storing the configuration data. A controller unit is coupled to the mechanical transducer and the settings module. The controller unit is capable of determining the configuration data via the settings module and controlling the mechanical transducer in conformance with the configuration settings. 
     In more particular embodiments, the communications interface is capable of wirelessly receiving control data used to change a physical configuration of the mechanical transducer and communicate the control data to the controller unit. The physical configuration of the mechanical transducer is changed by the controller unit in response to receipt of the control data. The actuator may include a sensing unit capable of detecting sensor data representing the changed physical configuration of the mechanical transducer. The sensing unit is coupled to communicate the sensor data to communications module, and the communications module wirelessly transmits the sensor data. 
     In other, more particular embodiments, the communications module is capable of determining the stored configuration data and wirelessly transmitting the configuration data. The configuration data may include travel limits of the actuation member, speed of the mechanical transducer, timing parameters of the mechanical transducer, and/or electrical input ranges of the actuator. 
     In another embodiment of the invention, a method of configuring an actuator involves coupling a wireless receiver to a data configuration interface of the actuator. Configuration data is prepared via a user interface device that is separate from the actuator. The configuration data is wireless transmitted from the user interface device to the wireless receiver of the actuator. The configuration data is applied to the actuator via data configuration circuitry of the actuator. The data configuration circuitry changes an operational parameter used during actuator operation in response to the applied configuration data. 
     In more particular embodiments, the method further involves preparing control data via the user interface, wirelessly transmitting the control data from the user interface device to the wireless receiver of the actuator, and applying the control data to control circuitry of the actuator. The control circuitry changes a physical configuration of the actuator at in response to the control data being applied to the control circuitry. The method may also involve detecting, via sensing circuitry of the actuator, status data that reflects the changed physical configuration of the actuator in response to application of the control data, wirelessly transmitting the status data to the user interface device via a wireless transmitter of the actuator, and displaying a representation of the status data to a user via the user interface device. 
     In other, more particular embodiments, the method further involves storing the configuration data in a memory of the actuator in response to applying the configuration data to the actuator via the data configuration interface. The stored configuration may be stored via the data configuration circuitry of the actuator, wirelessly to the user interface device via a wireless transmitter of the actuator, a representation of the configuration data displayed to a user via the user interface device. 
     In another embodiment of the invention, a system includes a wireless device and an actuator. The wireless device includes a user interface that allows a user to specify configuration data and a wireless data interface capable of transmitting the configuration data. The actuator is capable of being wirelessly exchanging data with the wireless device. The actuator includes a mechanical transducer capable of transmitting force to an external object in response to electronic signals, and a communications interface. The communications interface is capable of wirelessly receiving the configuration data from the wireless device. A settings module is coupled to the communications interface and capable of storing the configuration data. A controller unit is coupled to the mechanical transducer and the settings module, the controller unit capable of determining the configuration data via the settings module and controlling the mechanical transducer in conformance with the configuration settings. 
     In another embodiment of the invention, a system includes means for preparing configuration data via a user interface device, means for wirelessly transmitting the configuration data from the user interface device to a wireless receiver of an actuator, means for applying the configuration data to the actuator via data configuration circuitry of the actuator, and means for changing actuator operation in response to the applied configuration data. 
     In more particular embodiments, the system includes means for preparing control data via the user interface, means for wirelessly transmitting the control data from the user interface device to the wireless receiver of the actuator; and means for applying the control data to control circuitry of the actuator, wherein the control circuitry changes a physical configuration of the actuator at in response to the control data being applied to the control circuitry. The system may also include means for detecting, via sensing circuitry of the actuator, status data that reflects the changed physical configuration of the actuator in response to application of the control data, means for wirelessly transmitting the status data to the user interface device via a wireless transmitter of the actuator; and means for displaying a representation of the status data to a user via the user interface device. 
     These and various other advantages and features of novelty which characterize the invention are pointed out with particularity in the claims annexed hereto and form a part hereof. However, for a better understanding of the invention, its advantages, and the objects obtained by its use, reference should be made to the drawings which form a further part hereof, and to accompanying descriptive matter, in which there are illustrated and described representative examples of systems, apparatuses, and methods in accordance with the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The invention is described in connection with the embodiments illustrated in the following diagrams. 
         FIG. 1  is a block diagram illustrating components of an actuator according to embodiments of the invention; 
         FIG. 2  is a perspective view of an example actuator system according to embodiments of the invention; 
         FIGS. 3A-C  are diagrams of user interface components that may be used to access data related to various aspects of actuator operation according to embodiments of the invention; 
         FIG. 4  is a diagram of a multi-actuator arrangement according to embodiments of the invention; 
         FIG. 5  is a diagram of an alternate multi-actuator arrangement according to embodiments of the invention; 
         FIG. 6  is a diagram of a long-range wireless actuator system according to embodiments of the invention; 
         FIG. 7  is a flowchart illustrating a procedure for remotely configuring an actuator according to embodiments of the present invention; 
         FIG. 8  is a flowchart illustrating a procedure for remotely controlling an actuator according to embodiments of the present invention. 
     
    
    
     DETAILED DESCRIPTION 
     In the following description of various exemplary embodiments, reference is made to the accompanying drawings that form a part hereof, and in which is shown by way of illustration various embodiments in which the invention may be practiced. It is to be understood that other embodiments may be utilized, as structural and operational changes may be made without departing from the scope of the present invention. 
     Generally, the present invention is directed to configuring and controlling actuators using an external user interface. The term “actuator,” as used herein, includes any apparatus capable of providing forces and/or motion in response to an electrical control signal. Actuators may use any force transducer known in the art, including linear/rotary electrical motors, hydraulic or pneumatic pistons/motors, piezoelectric elements, etc. Electrical control signals may both actively control the actuator (e.g., movement commands) and be used to set system parameters (e.g., actuation limits, speeds). The electrical control signals may be generated internally, although at least a portion of the electrical signals originate from the external user interface. The external user interface may also be capable of operating in an interactive mode, such as to directly control the actuator, as well as in other capacities such as setting device parameters. 
     It will be appreciated that actuators described herein may not require any electrical control signal to cause the actuator to perform its basic functions (e.g., extend, retract, rotate), as these operations may be triggered in part by mechanical on non-electrical stimuli. However, some aspects of the actuator&#39;s operation will at least be indirectly affected by electrical control signals. For example, a hydraulic actuator may rely on a physical member to limit motion (e.g., a stop) that is adjusted by way of an electric motor. Thus, although the electrical motor may not be in operation when the actuator&#39;s motion is limited by the stop, the position of the stop was adjusted by way of electrical signals applied to the motor, thus signals to the motor indirectly control the behavior of the actuator. 
     Actuators as shown herein will generally have interfaces for accepting electrical signals at least for configuration of actuator parameters. The signals are provided at least in part by the external user interface. The external user interface generally includes a device that is physically separate from the actuator. In one embodiment, the external interface interacts with the actuator wirelessly. Use of a physically separate device for user interface enables the actuator to have sophisticated, flexible, and easy to understand controls, while still allowing the actuator to retain a small physical footprint and a utilize a mechanically simple exterior. Making the external interface wireless further simplifies the mechanical design, as no external connectors need be dealt with. Further, a wireless external interface is much easier to use when the actuator is mounted in a difficult to access location. 
     In reference now to  FIG. 1 , a block diagram illustrates components of an actuator  100  according to embodiments of the invention. The actuator  100  includes an actuation member  102  that is used to apply forces and/or moments to external objects. In the HVAC and fire detection/suppression fields, the actuation member  102  is used to move objects, such as dampers, valves, etc. The actuation member  102  often includes mechanical apparatus such as gears  104  and bearings  106  that provide the desired forces. Typically, the forces produced by the actuation member  102  are used to produce motion, such as rotation  108 , linear translation  110 , or specialized paths, as represented by curve  111 . Those skilled in the art will appreciate that the actuator  100  need not always produce significant motion in operation. For example, the actuator  100  may be intended to exert a force or moment with little motion, such as in applying an opening/holding force to a door or other member. 
     The actuation member  102  is driven by a transducer  112 . The transducer  112  generally transforms one form of energy to another. In actuator applications, at least some of the energy is transformed into a mechanical force by the transducer  112 . Example transducers  112  may include electric motors  114 , valves  116 , pistons  118 , and solenoids  120 . It will be appreciated that the transducer  112  may be integrated with the actuation member  102 , such as where a piston rod is the actuation member for a piston  118 . Similarly, the transducer  112  may include many combinations of transducer components, such as a hydraulic piston  118  controlled by a solenoid-operated valve  116 . Transducers  112  may be used for other purposes besides movement of the actuation member. For example, mechanical setting such as extension limits or gear ratios may be automatically adjusted by way of one or more transducers  112 . 
     The actuator  100  includes provisions for controlling some aspects of its operation in response to electrical signals, as represented by the controller  122 . The controller  122  is an electronic unit that may be used to at least control settings applied to the actuator  100 , as well as for real-time control of the actuator  100 . The electrical signals are applied to the transducer  112 , either directly or indirectly, via a transducer interface  124 . The transducer interface  124  may include circuitry for amplifying and conditioning of signals  126  that are applied to electrical control portions of the transducer  112 . The transducer interface  112  may also include circuitry for receiving signals  128  generated by the transducers  112  and processing those signals  128  for use by other components of the controller  122 . An example of these latter signals  128  includes outputs of sensors that may be included or separate from the transducer  112 . 
     The controller  122  also may include a settings/control processor  130  that manages data on behalf of the actuator  100 . The settings/control processor  130  is coupled to the transducer interface  124  for sending and receiving transducer data. The settings/control processor  130  may also be coupled to a communications interface  132  that enables remote configuration and/or control of the actuator  100 . The settings/control processor  130  may include any combination of analog and digital circuitry. In one embodiment, the processor  130  may be provided as a custom digital state machine or a general purpose microprocessor. The processor  130  may include or have access to memory (not shown) for storing and retrieving data related to actuator operation. 
     The communications interface  132  allows an external device, such as an external user interface  134 , to affect the settings/control processor  130 . Although the communications interface  132  may use solid media such as wire or optical fiber to communicate with external devices  134 , the illustrated interface  132  includes the ability to communicate wirelessly, as indicated by signals  136 ,  137 . The wireless interface  132  typically includes receiver circuitry for receiving and processing incoming signals  136 , and may also include transmitting circuitry for transmitting signals  137 . 
     Generally, the communications interface  132  allows the external user interface  134  (and similar devices) to apply configurations, query existing settings, query operational data (e.g., cycle counters, sensor data including position, force, temperature, etc), control the actuator, run self tests, etc. The communications interface  132  and user interface  134  may engage in one-way or two-way communications. Typically, the interfaces  132 ,  134  will at least support a transmission from the user interface  134  to the actuator  100 . However, in order to confirm that configuration changes and other communications were successful, a transmission from the actuator  100  (via the communications interface  132 ) to the user interface device  134  is desirable. 
     The wireless signals  136 ,  137  may include any wireless communication medium known in the art, including radio, light, and sound transmissions. The signals  136 ,  137  may operate at a single transmission frequency, or at multiple transmission frequencies, including the use of spread spectrum transmission technologies. The signals  136 ,  137  may be encoded with any type of modulation, including amplitude, frequency, and phase shift. The transmission media type of signals  136 ,  137  and are chosen based on factors generally known in the art, including cost, installation requirements (e.g., whether line-of-sight with communications interface is available), bandwidth, existence of interference, power consumption, etc. 
     The external user interface  134  includes one or more wireless interfaces compatible with the communications interface  132  of the actuator  100 . The external user interface  134  may be implemented using a general purpose device, such as a portable computer, PDS, cellular phone, etc. Such a device may be programmable for any number of different actuators  100 , and similar devices. The external interface  134  may also include custom designed hardware that is compatible with a particular actuator  100  or set of actuators. 
     The external user interface  134  generally includes a human-machine interface that includes input devices  138  and output devices  140 . Input device  138  are used to accept user input for such purposes as applying actuator settings, actuator control, menu navigation, setup of the interface device  134 , etc. Input devices  138  may include devices such as buttons, keypads, dials, wheels, motion sensors, voice recognition, etc. The output device  140  shows the results of user inputs, actuator status, current actuator settings, settings/status of the interface device  134 , etc. The output device  140  may include video displays, alphanumeric displays, light emitting diodes (LEDs), liquid crystal displays (LCDs), speakers, tactile feedback devices, etc. 
     A more particular example of an actuator system  200  according to an embodiment of the invention shown in the perspective view of  FIG. 2 . The example system  200  includes a rotary actuator  202  driven by an electric motor  204 . A rotary coupling  206  is driven by the electric motor  204 , either directly or by intermediate apparatus such as gears, pulleys, or wheels (not shown). The rotary coupling  206  acts as an actuation member that may be coupled to a shaft or other member for purposes of automated control. 
     The electric motor  204  of the actuator  202  is electrically coupled to control circuitry  208 , which includes an electrical interface (e.g., amplifiers, buffers), control circuitry (e.g., digital logic) and power circuitry. The control circuitry  208  may include one or more printed circuit cards, as well as off-card components, such as limit switches, sensors, etc. The control circuitry  208  also includes the capability to access and apply various settings associated with the motor  204  and circuitry  208 . These settings may be stored using any mechanical or electrical mechanism known in the art. For example, where the settings affect an adjustable mechanical component, the settings may be determined by sensing the current configuration or state of the component. More commonly, however, the circuitry  208  includes some sort of non-volatile digital memory (e.g., flash memory) that allows various operational parameters to be stored such that the data is not lost if power is removed. 
     The control circuitry  208  may include a default or failsafe set of parameters that govern the operation of the actuator  202  in the absence of any user settings. However, the end-user will often want to modify settings, either before or after the actuator is installed. To allow a convenient adjustment of the actuator  202 , a wireless interface  210  is coupled to control circuitry  208 . The wireless interface  210  includes an antenna/receptor  212  that allows signals  214  to be sent and received for purposes of affecting operation of the control circuitry  208 . 
     The illustrated wireless interface  210  is fixed to the housing of the actuator  202 . However, it may be advantageous to alternately provide a removable wireless interface, such as removable interface  216 . The removable interface  216  may include similar components as the fixed interface  210 , including a wireless antenna/receptor  218 . The removable interface  216  also includes a connector  220  that mates with a matching receptacle  222  on the actuator  200 . The connector  220  and/or receptacle  222  may also include structural members, such as fasteners, clips, threads, etc., that allows the interface  216  to be fixably coupled to the actuator  202 . In other arrangements, the removable wireless interface  216  may be coupled to the receptacle  222  via a cable (not shown) that allows the interface  216  to be mounted distantly from the actuator  202 . Such an arrangement may be advantageous in some situations, such as where the actuator  200  is mounted in an enclosure that is impermeable to light or radio waves. 
     Regardless of whether the actuator  202  includes a fixed wireless interface  210  and/or a removable interface  216 , the end user may utilize a user interface device  224  in order to configure the control circuitry  208  via one or both of the wireless interfaces  210 ,  216 . The illustrated user interface device  224  is a standard portable processing device, such as a PDA or ultra-mobile personal computer (PC). The interface device  224  includes an antenna/receptor  226  compatible with the wireless interface(s)  210 ,  216  of the actuator  200 . The user interface device  224  includes buttons  228  for accepting user input, and a display  230  for presenting user output. 
     A user interface device  224  may use a variety of user input and output arrangements. General purpose computing devices such as the illustrated device  224  allow a graphical user interface (GUI) to be inexpensively implemented. A GUI can be user friendly, yet still capable of providing sophisticated and flexible access to the underlying configurations and operations of the actuator system  200 . Example embodiments of actuator configuration GUIs  300 A-C according to embodiments of the invention are shown in  FIGS. 3A-C . 
     The GUIs  300 A-C represent various panels of a tabbed interface that may be used to access data related to various aspects of actuator operation. Panel  300 A illustrates an exemplary configuration interface, panel  300 B illustrates an exemplary control interface, and panel  300 C illustrates an exemplary status/test panel. The configuration interface  300 A includes controls for setting actuator parameters such as voltage/current input mode  302 , economizer mode  304 , extension/retraction limits  306 , time/date  308 . 
     The controls panel  300 B provides controls for such real-time, active actuator control, such as extension/retraction buttons  310 ,  312  and controls  314  that enable the running of multiple extension/retraction cycles. The status/test panel  300 C includes relatively static configuration data  316  such as model number, serial number, and firmware/software version. Operational status data  318  may also be shown in the status/test panel  300 C, which may show such data as input voltage, historical data (e.g., maximum current usage, run time, self tests), current date/time, etc. The status/test panel  300 C may also allow the user to run actuator self tests, as represented by button  320 . Those skilled in the art will appreciated that the example GUIs  300 A,  300 B,  300 C are exemplary, the selection, arrangement, and type of controls within a configuration GUI, as well as underlying content can vary from those illustrated. For example, similar functionality may be provided using a text-based menu on a dot-matrix LED or LCD text display. 
     In the illustrated embodiments above, a wireless interface is used to set and receive configuration data relating to a single actuator. In multi-actuator systems, each actuator may have a separate integral or plug-in wireless adapter, each separately accessible and addressable from a wireless user interface device. An alternate multi-actuator arrangement  400  according to an embodiment of the invention is shown in  FIG. 4 . The illustrated arrangement includes two independently operable linear actuators  402  and  404 . The actuator  404  includes a wireless adapter  406  that is accessible from a wireless user interface device, here represented by laptop computer  408 . The actuator  404  also includes a wired interface  408  that is capable of being coupled to a wired interface  410  of actuator  402  via a cable  412 . Actuator  402  also includes another wired interface  414  capable of being coupled to another actuator (not shown) via cable  416 , and so on. 
     Generally, the wired interfaces  408 ,  410 ,  414  and cables  412 ,  416  can form a wired data bus  418  capable of managing a plurality of actuators, as well as other control devices. For example, the bus  418  could interface with devices such as switches, sensors, thermostats, controls, smoke detectors, temperature sensors, etc. The wireless interface  406  is also coupled to the wired bus  418 , thereby allowing access to a large number of components via a conveniently accessible wireless device  409 . The bus  418  could communicate via dedicated signal wires, or “piggyback” data on top of other conductive paths, such as power wires. 
     The bus  418  in  FIG. 4  utilizes conductors to share data between multiple devices for single access via a wireless user interface device. In some situations, it may be desirable to allow wireless devices to be similarly coupled onto a common, logical network that may only need a single point of entry. An arrangement  500  that uses a wireless network according to an embodiment of the invention is shown in  FIG. 5 . In this arrangement, three actuators, Linear actuators  502 ,  504  and rotary actuator  506 , each include respective wireless interfaces  508 ,  510 ,  512 . A wireless user interface device  514  is wirelessly coupled to at least one of the actuator wireless interfaces  508 ,  510 ,  512 . The actuators  502 ,  504 ,  506  may interact to form a relay or mesh network, wherein at least some of the actuators  502 ,  504 ,  506 , pass data on behalf of others of the actuators  502 ,  504 ,  506 . Wireless mesh networks are designed to handle many-to-many connections between wireless nodes and are capable of dynamically altering the connections as needed. As a result, mesh networks can use distributed devices to provide long range, self-healing data paths to the nodes of the network, and offer other advantages over traditional point-to-point or broadcast wireless connections. 
     In the illustrated embodiments, the wireless technologies included with actuators may include standard or proprietary short range data transfer protocols. Examples of such protocols include Bluetooth, IrDA, IEEE 802.11 wireless local area networks (WLAN), HomeRF, etc. These technologies generally utilize low power, close range or line of sight wireless transmissions. In alternate arrangements, however, an actuator according to embodiments of the invention may use long range wireless technologies, as exemplified by cellular network providers and mobile digital service providers. A long-range wireless solution can provide configuration and setup of actuators and related equipment from nearly anywhere. 
     In reference now to  FIG. 6 , a long-range wireless actuator system  600  according to embodiments of the invention is illustrated. The system  600  includes at least one actuator  602  that includes a long range wireless interface  604 . This interface  604  may utilize digital or analog transmissions, and generally relies on a wireless infrastructure for support, as represented by wireless provider network  606 . The wireless interface  604  may be physically attached to the actuator  602 , or may be physically separate and coupled via a cable or other transmission media. 
     The actuator  602  may be a standalone device, or may be connected to other actuators  608  and other devices  610  by a common bus or network  612 . The long range wireless interface  604  may provide remote access to any device  602 ,  608 ,  610  coupled by the bus or network  612 . A user interface may be provided in a device that utilizes the provider network  606  directly, such as a cellular phone  614  or PDA (not shown). In another arrangement, the cellular phone  614  may act as a communication interface between the provider network  606  and another device, such as personal computer  616 , as indicated by path  618 . In an alternate arrangement, the provider network  606  may be coupled to the Internet  620  (or other large scale network), thus allowing the computer  616  to access the actuator configuration(s) directly, as indicated by paths  622 ,  624 . 
     In reference now to  FIG. 7 , a flowchart illustrates a procedure  700  for remotely configuring an actuator according to embodiments of the present invention. A wireless receiver is coupled  702  to a data configuration interface of an actuator. Configuration data is prepared  704  via a user interface device that is separate from the actuator. The configuration data is wirelessly transmitted  706  from the user interface device to the wireless receiver of the actuator. The configuration data is applied  708  to the actuator via data configuration circuitry of the actuator. The data configuration circuitry changes  710  an operational parameter used during actuator operation in response to the applied configuration data. 
     In reference now to  FIG. 8 , a flowchart illustrates a procedure  800  for remotely controlling an actuator according to embodiments of the present invention. Control data is prepared  802  via a user interface device. The control data is wirelessly transmitted  804  from the user interface device to a wireless receiver of the actuator. The control data is applied  806  to control circuitry of the actuator. The control circuitry changes a physical configuration of the actuator at substantially the same time as the control data is applied to the control circuitry. Sensing circuitry of the actuator may detect  808  status data that reflects the changed physical configuration of the actuator in response to application of the control data. The status data is wirelessly transmitted  810  to the user interface device via a wireless transmitter of the actuator. A representation of the status data is displayed  812  to a user via the user interface device. 
     Hardware, firmware, software or a combination thereof may be used to perform the various functions and operations described herein for controlling actuator hardware. Articles of manufacture encompassing code to carry out functions associated with the present invention are intended to encompass a computer program that exists permanently or temporarily on any computer-usable medium or in any transmitting medium which transmits such a program. Transmitting mediums include, but are not limited to, transmissions via wireless/radio wave communication networks, the Internet, intranets, telephone/modem-based network communication, hard-wired/cabled communication network, satellite communication, and other stationary or mobile network systems/communication links. From the description provided herein, those skilled in the art will be readily able to combine software created as described with appropriate general purpose or special purpose computer hardware to create a system, apparatus, and method in accordance with the present invention. 
     The foregoing description of the exemplary embodiment of the invention has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. It is intended that the scope of the invention be limited not with this detailed description, but rather determined by the claims appended hereto.