Patent Application
20210125040
Embodiments of the present disclosure relate to neural network processing, and more specifically, to three-dimensional neural inference processing unit architectures.
According to embodiments of the present disclosure, neural inference chips are provided. A first tier comprises a plurality of neural cores. Each core comprises a neural computation unit. The neural computation unit is adapted to apply a plurality of synaptic weights to a plurality of input activations to produce a plurality of output activations. A second tier comprises a first neural network model memory adapted to store the plurality of synaptic weights. A communication network is operatively coupled to the first neural network model memory and to each of the plurality of neural cores, and adapted to provide the synaptic weights from the first neural network model memory to each of the plurality of neural cores.
According to embodiments of the present disclosure, methods of and computer program products for neural inference processing are provided. Synaptic weights are provided from a first neural network model memory to each of a plurality of neural cores via a communication network. The communication network is operatively coupled to the first neural network model memory and to each of the plurality of neural cores. The plurality of neural cores is arrayed on a first tier of a neural inference chip. Each core comprises a neural computation unit. The neural computation unit is adapted to apply a plurality of synaptic weights to a plurality of input activations to produce a plurality of output activations. The first neural network model memory is arrayed on a second tier of a neural inference chip.
An artificial neuron is a mathematical function whose output is a nonlinear function of a linear combination of its inputs. Two neurons are connected if the output of one is an input to the other. A weight is a scalar value encoding the strength of the connection between the output of one neuron and the input of another neuron.
A neuron computes its output, called an activation, by applying a nonlinear activation function to a weighted sum of its inputs. A weighted sum is an intermediate result computed by multiplying each input with the corresponding weight and accumulating the products. A partial sum is a weighted sum of a subset of inputs. A weighted sum of all inputs may be computed in stages by accumulating one or more partial sums.
A neural network is a collection of one or more neurons. A neural network is often divided into groups of neurons called layers. A layer is a collection of one or more neurons that all receive input from the same layers and all send output to the same layers, and typically perform a similar function. An input layer is a layer that receives input from a source outside the neural network. An output layer is a layer that sends output to a target outside the neural network. All other layers are intermediate processing layers. A multilayer neural network is a neural network with more than one layer. A deep neural network is a multilayer neural network with many layers.
A tensor is a multidimensional array of numerical values. A tensor block is a contiguous subarray of the elements in a tensor.
Each neural network layer is associated with a parameter tensor V, weight tensor W, input data tensor X, output data tensor Y, and intermediate data tensor Z. The parameter tensor contains all of the parameters that control neuron activation functions a in the layer. The weight tensor contains all of the weights that connect inputs to the layer. The input data tensor contains all of the data that the layer consumes as input. The output data tensor contains all of the data that the layer computes as output. The intermediate data tensor contains any data that the layer produces as intermediate computations, such as partial sums.
The data tensors (input, output, and intermediate) for a layer may be 3-dimensional, where the first two dimensions may be interpreted as encoding spatial location and the third dimension as encoding different features. For example, when a data tensor represents a color image, the first two dimensions encode vertical and horizontal coordinates within the image, and the third dimension encodes the color at each location. Every element of the input data tensor X can be connected to every neuron by a separate weight, so the weight tensor W generally has 6 dimensions, concatenating the 3 dimensions of the input data tensor (input row a, input column b, input feature c) with the 3 dimensions of the output data tensor (output row i, output column j, output feature k). The intermediate data tensor Z has the same shape as the output data tensor Y. The parameter tensor V concatenates the 3 output data tensor dimensions with an additional dimension o that indexes the parameters of the activation function a.
An element of a layer's output data tensor Y can be computed as in Equation 1 where the neuron activation function σ is configured by the vector of activation function parameters V[i,j,k,:], and the weighted sum Z[i,j,k] can be computed as in Equation 2.
For simplicity of notation, the weighted sum in Equation 2 may be referred to as the output, which is equivalent to using a linear activation function Y[i,j,k]=σ(Z[i,j,k])=Z[i,j,k], with the understanding that the same statements apply without loss of generality when a different activation function is used.
In various embodiments, computation of the output data tensor as described above is decomposed into smaller problems. Each problem may then be solved on one or more neural core, or on one or more core of a conventional multicore system in parallel.
With reference now to
Multiple neural cores may be tiled in a neural core array. In some embodiments, the array is 2-dimensional.
A neural network model is a set of constants that collectively specify the entire computation performed by a neural network, including the graph of connections between neurons as well as the weights and activation function parameters for every neuron. Training is the process of modifying the neural network model to perform a desired function. Inference is the process of applying a neural network to an input to produce an output, without modifying the neural network model.
An inference processing unit is a category of processors that perform neural network inference. A neural inference chip is a specific physical instance of an inference processing unit.
Referring to
In various embodiments a microengine 204 is included in IPU 200. In such embodiments, all operations in the IPU are directed by the microengine. As set out below, central and/or distributed microengines may be provided in various embodiments. A global microengine may be referred to as a chip microengine, while a local microengine may be referred to as a core microengine or local controller. In various embodiments a microengine comprises one or more microengines, microcontrollers, state machines, CPUs, or other controllers.
Referring to
IPU 300 includes an array 306 of neural cores 303. Each core 303 includes a computation unit 333, which is loaded with a neural network model from model memory 301 and is operative to perform vector computation. Each core also includes a local activation memory 332. Input activations are provided from local activation memory 332 in advance of each computation step. Outputs from computation unit 333 are written back to activation memory 332 for processing on the same or another computation unit.
IPU 300 includes one or more network-on-chip (NoC) 305. In some embodiments, a partial sum NoC 351 interconnects the cores 303 and transports partial sums among them. In some embodiments, a separate parameter distribution NoC 352 connects cores 303 to memory 301 for distributing weights and instructions to cores 303. It will be appreciated that various configurations of NoC 351 and 352 are suitable for use according to the present disclosure. For example, broadcast networks, row broadcast networks, tree networks, and switched networks may be used.
In various embodiments a global microengine 304 is included in IPU 300. In various embodiments, a local core controller 334 is included on each core 303. In such embodiments, the direction of operations is shared between the global microengine (chip microengine) and the local core controller (core microengine). In particular, at 311, compute instructions are loaded from model memory 301 to the neural computation unit 333 on each core 303 by global microengine 304. At 312, parameters (e.g., neural network/synaptic weights) are loaded from model memory 301 to the neural computation unit 333 on each core 303 by global microengine 304. At 313, neural network activation data are loaded from activation local activation memory 332 to neural computation unit 333 on each core 303 by local core controller 334. As noted above, the activations are provided to the axons of the particular neural network defined by the model, and may originate from the same or another neural computation unit, or from outside the system. At 314, neural computation unit 333 performs the computation to generate output neuron activations as directed by local core controller 334. In particular, the computation comprises applying the input synaptic weights to the input activations. It will be appreciated that various methods are available for performing such computations, including in silico dendrites, as well as vector multiplication units. At 315, the results from computation are stored in local activation memory 332 as directed by local core controller 334. As described above, these stages may be pipelined, in order to provide efficient usage of the neural computation unit on each core. It will also be appreciated that inputs and outputs may be transferred from local activation memory 332 to global activation memory 302 according to the requirements of a given neural network.
Computation unit 333 performs the computation to generate output neuron activations as directed by local core controller 334. In particular, the computation comprises applying the input synaptic weights to the input activations. It will be appreciated that various methods are available for performing such computations, including in silico dendrites, as well as vector multiplication units. The results from computation are stored in local activation memory 332 as directed by local core controller 334. These stages may be pipelined, in order to provide efficient usage of the computation unit on each core. It will also be appreciated that inputs and outputs may be transferred from local activation memory 332 to global activation memory 302 according to the requirements of a given neural network.
Accordingly, the present disclosure provides for runtime control of operations in an Inference Processing Unit (IPU). In some embodiments, the microengine is centralized (single microengine). In some embodiments, the IPU computation is distributed (performed by an array of cores). In some embodiments, runtime control of operations is hierarchical—both a central microengine and distributed microengines participate.
The microengine or microengines direct the execution of all operations in the IPU. Each microengine instruction corresponds to several sub-operations (e.g., address generation, load, compute, store, etc.) In the distributed case, core microcode is run on the core microengines (e.g., 334). The core microcode includes instruction(s) to execute a full, single tensor operation. For example, a convolution between a weight tensor and a data tensor. In the context of a single core, the core microcode includes instruction(s) to execute a single tensor operation on the locally stored subset of the data tensor (and partial sums). Chip microcode is run on the chip microengine (e.g., 404). Microcode includes instructions to execute all of the tensor operations in a neural network.
Referring now to
IPU 400 includes an array 406 of neural cores 403. Each core 403 includes a computation unit, which is loaded with a neural network model from model memory 401 and is operative to perform vector computation. In various embodiments, each core also includes a local activation memory. In such embodiments, input activations are provided from local activation memory in advance of each computation step. Outputs from the computation unit are written back to activation memory for processing on the same or another computation unit. In various embodiments, each core 403 includes a local model memory, instruction memory, controller, and/or activation memory.
IPU 400 includes one or more network-on-chip (NoC). In some embodiments, a partial sum NoC 451 interconnects the cores 403 and transports partial sums among them. In some embodiments, a separate parameter distribution NoC 452 connects cores 403 to memory 401 for distributing weights and instructions to cores 403. In some embodiments, activation NoC 453 connects cores to activation memory 402. It will be appreciated that various configurations of NoC 451, 452, and 453 are suitable for use according to the present disclosure. For example, broadcast networks, row broadcast networks, tree networks, and switched networks may be used.
In various embodiments a global microengine 404 is included in IPU 400. In various embodiments, a local core controller is included on each core 403. In such embodiments, the direction of operations is shared between the global microengine (chip microengine) and the local core controller (core microengine). In particular, compute instructions are loaded from model memory 401 to the neural computation unit on each core 403 by global microengine 404. Parameters (e.g., neural network/synaptic weights) are loaded from model memory 401 to the neural computation unit on each core 403 by global microengine 404. Neural network activation data are loaded from activation local activation memory to the neural computation unit on each core 403 by a local core controller. As noted above, the activations are provided to the axons of the particular neural network defined by the model, and may originate from the same or another neural computation unit, or from outside the system.
The neural computation unit performs the computation to generate output neuron activations as directed by the local core controller. In particular, the computation comprises applying the input synaptic weights to the input activations. It will be appreciated that various methods are available for performing such computations, including in silico dendrites, as well as vector multiplication units. The results from computation are stored in local activation memory as directed by local core controller. As described above, these stages may be pipelined, in order to provide efficient usage of the neural computation unit on each core. It will also be appreciated that inputs and outputs may be transferred from local activation memory to global activation memory 402 according to the requirements of a given neural network.
In
Various limitations on performance are imposed by this architecture. For example, memory capacity imposes limitations on network size. In particular, the size of global weight memory determines the maximum neural network model size that can be computed. The size of activation memory determines the largest network layer that can be computed. Similarly, wire bandwidth limits the network distribution (weight distribution) and determines the maximum compute parallelism. Data movement distance limits energy efficiency.
In order to address these limitations imposed by the physical layout of a given chip, in various embodiments, a 3D layout is adopted, in which the various chip components are spread over multiple layers or tiers. In various embodiments, this is achieved through silicon 3D die and wafer stacking. In some embodiments, inter-tier connectivity is provided by through silicon vias.
A through-silicon via (TSV) or through-chip via is a vertical electrical connection (via) that passes completely through a silicon wafer or die. TSVs are high performance interconnect techniques used as an alternative to wire-bond and flip chips to create 3D packages and 3D integrated circuits. Compared to alternatives such as package-on-package, the interconnect and device density is substantially higher, and the length of the connections becomes shorter.
In various embodiments, TSVs have interconnect pitches of 6-10 μm, enabling high interconnect densities of ˜1-3 million interconnects/cm2. Given a 500 μm by 500 μm area (250,000 μm2), a 10 μm pitch yields 2500 interconnects (250,000 μm2/(10 μm×10 μm)) and a 6 μm pitch yields 6944 interconnects (250,000 μm2/(6 μm×6 μm)). Alternative implementations may have 1.6-3.0 μm pitch with 6-10 um depth.
The TSV may be implemented, for example, in copper based on a 14 nm process. Such an exemplary embodiment may have a diameter of about 10 μm and a pitch of about 40 μm. The TSV may be implemented for example, in tungsten. Such an exemplary embodiment may have a diameter of about 1.2 μm and a pitch of about 2.5 μm. Another such exemplary embodiment may have a diameter of about 1.0 μm with a 2.0 μm pitch.
In various embodiments, a 3D layout is coupled with a 2D global weight distribution bus. In this way, unique bandwidth to cores (and potentially total bandwidth to cores) is increased.
As set out below, 3D layouts are scalable over two or more layers, achieving increased capacity and inter-tier wire length minimization.
In view of the above examples, it will be appreciated that additional multi-tiered layouts may be adopted in various embodiments. For example, a memory array may be sandwiched between two core arrays. In such an embodiment, the model is in the middle and it distributes the weights to the core array tiers above and below. Such an embodiment is particularly useful in cases having a batch size of two. In particular, for a given model, a first image is processed on the top core array tier, and a second image is processed on the bottom core array tier. This embodiment is also useful for redundant computation in high-reliability settings. A single image may be processed simultaneously on top and bottom tiers. The results from both tiers can be compared. If they match, the neural inference computation was successful. If not, the computation may be repeated, or the faulty system may be diagnosed.
Neural network layers may be split among two tiers. For example, neural network layers 1-5 could be processed on the bottom tier, and neural network layers 6-10 processed on the top tier. Similarly, different neural networks may be run on the same (or different) images simultaneously on different tiers.
The multi-tier approach described above results in a bandwidth improvement over single-tier architectures. In particular, the wire area increases from 1D to 2D. The wire pitch decreases from the minimum wire spacing to the TSV spacing. The core array weight distribution buses go from shared to individual. Bus frequency increases due to the short TSV propagation distance (corresponding to depth). As a result, activation memory bandwidth and weight distribution bandwidth is increased.
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In various embodiments, each tier of silicon has a wire stack. The wire stack and wire pitch define the maximum number of wires that can be manufactured within a tier. This, along with frequency, defines the maximum bandwidth achievable within a tier. By using multiple tiers, the effective number of wires, and effective bandwidth are both increased, directly proportional to the number of tiers.
In various embodiments, described above, a second tier is used for the global memory communication network. This gives more wiring capacity for the global memory communication network in the second tier. In addition, this frees up more wiring capacity for the other communication networks (e.g., the partial sum NoC and activation NoC) in the first tier.
Various embodiments provide scalable capacity. In particular, every added tier of memory adds capacity. This additionally allows modular fabrication, for example allowing multiple product lines with different memory capacities, using the same base logic tiers.
In various embodiments, DRAM, FLASH, SRAM, or other memory technologies are integrated on separate tiers together with standard logic process tiers.
In various embodiments, the overall energy reduction may be computed using Equation 3, where Nwires is the number of wires, C is the total line capacitance, Vdd is the power supply voltage, b is the average fraction of bits in a packet that switch (0→1 or 1→0), Uwires is the wire utilization, and f is the clock frequency. In an exemplary embodiment, b=0.5 and f=109 Hz. Capacitance is proportional to distance, and so moving to an average distance of 10-100 μm from 4 mm results in a 40-400× reduction in weight distribution NoC energy consumption.
P
wire_channel
=N
wires
×C×V
dd
2
×b×U
wires
×f Equation 3
As described herein, in various embodiments an IPU is divided among multiple tiers. In particular, neural inference chips are provided in which a core array and memory are implemented on different silicon tiers. In various embodiments, the memory capacity is scalable by adding (or subtracting) memory tiers. In various embodiments, weight or parameter memory are provided on dedicated memory tiers. In various embodiments, activation memory is provided on a dedicated memory tier.
In various embodiments, a dedicated memory bus is provided to each core, in contrast to a shared row bus. In various embodiments, weights are distributed to the core array via a dedicated bus to each core. In various embodiments, the dedicated buses are routed to each core via a different silicon tier.
In various embodiments, a global memory interconnect is provided. Such a system provides configurable broadcast of data between a 2D array of memory banks and a 2D array of compute cores on different silicon tiers. In various embodiments, the data is routed to the core array via a different silicon tier.
Referring now to
In computing node 10 there is a computer system/server 12, which is operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well-known computing systems, environments, and/or configurations that may be suitable for use with computer system/server 12 include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments that include any of the above systems or devices, and the like.
Computer system/server 12 may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, and so on that perform particular tasks or implement particular abstract data types. Computer system/server 12 may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.
As shown in
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA) local bus, Peripheral Component Interconnect (PCI) bus, Peripheral Component Interconnect Express (PCIe), and Advanced Microcontroller Bus Architecture (AMBA).
In various embodiments, one or more inference processing unit (not pictured) is coupled to bus 18. In such embodiments, an IPU may receive data from or write data to memory 28 via bus 18. Likewise, an IPU may interact with other components via bus 18 as described herein.
Computer system/server 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer system/server 12, and it includes both volatile and non-volatile media, removable and non-removable media.
System memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory 32. Computer system/server 12 may further include other removable/non-removable, volatile/non-volatile computer system storage media. By way of example only, storage system 34 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (not shown and typically called a “hard drive”). Although not shown, a magnetic disk drive for reading from and writing to a removable, non-volatile magnetic disk (e.g., a “floppy disk”), and an optical disk drive for reading from or writing to a removable, non-volatile optical disk such as a CD-ROM, DVD-ROM or other optical media can be provided. In such instances, each can be connected to bus 18 by one or more data media interfaces. As will be further depicted and described below, memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure.
Program/utility 40, having a set (at least one) of program modules 42, may be stored in memory 28 by way of example, and not limitation, as well as an operating system, one or more application programs, other program modules, and program data. Each of the operating system, one or more application programs, other program modules, and program data or some combination thereof, may include an implementation of a networking environment. Program modules 42 generally carry out the functions and/or methodologies of embodiments as described herein.
Computer system/server 12 may also communicate with one or more external devices 14 such as a keyboard, a pointing device, a display 24, etc.; one or more devices that enable a user to interact with computer system/server 12; and/or any devices (e.g., network card, modem, etc.) that enable computer system/server 12 to communicate with one or more other computing devices. Such communication can occur via Input/Output (I/O) interfaces 22. Still yet, computer system/server 12 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and/or a public network (e.g., the Internet) via network adapter 20. As depicted, network adapter 20 communicates with the other components of computer system/server 12 via bus 18. It should be understood that although not shown, other hardware and/or software components could be used in conjunction with computer system/server 12. Examples, include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.
The present disclosure may be embodied as a system, a method, and/or a computer program product. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present disclosure.
The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.
Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device.
Computer readable program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.
Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.
The descriptions of the various embodiments of the present disclosure have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over technologies found in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
