Patent Application
20220033218
The subject matter disclosed herein relates generally to the field of elevator systems, and specifically to a method and apparatus for detecting loss of friction on a propulsion system for an elevator car.
Elevator cars are conventionally operated by ropes and counter weights, which typically only allow one elevator car in an elevator shaft at a single time.
According to an embodiment, an elevator system is provided. The elevator system including: an elevator car configured to travel through an elevator shaft; a first guide beam extending vertically through the elevator shaft, the first guide beam including a first surface and a second surface opposite the first surface; a beam climber system configured to move the elevator car through the elevator shaft, the beam climber system including: a first wheel in contact with the first surface; and a first electric motor configured to rotate the first wheel; and a controller configured to determine wheel slippage in a low friction area along the first guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a sensor configured to detect a rotational wheel speed of the first wheel, wherein the controller is configured to determine wheel slippage when the rotational wheel speed is outside of a rotational wheel speed tolerance range.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include an accelerometer configured to detect a speed of the elevator car or the beam climber system, wherein the controller is configured to determine wheel slippage when the speed is greater than an expected speed.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a sensor configured to detect a torque of the first electric motor, wherein the controller is configured to determine wheel slippage when the torque is outside of a torque tolerance range.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a sensor configured to detect a rotational wheel speed of the first wheel; and a sensor configured to detect a torque of the first electric motor, wherein the controller is configured to determine wheel slippage when the rotational wheel speed is outside of a rotational wheel speed tolerance range and the torque is outside of a torque tolerance range.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a position reference system configured to detect a location of the elevator car when the wheel slippage is detected.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a first motor brake mechanically connected to the first electric motor, wherein the controller is configured to activate the first motor brake when the first wheel is at or proximate the low friction area.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the controller is configured to pulsate the first motor brake when the first wheel is at or proximate the low friction area.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a first guide rail extending vertically through the elevator shaft; and a first guide rail brake operably connected to the first guide rail, wherein the controller is configured to activate the first guide rail brake when the first wheel is at or proximate the low friction area.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a first guide rail extending vertically through the elevator shaft; and a first guide rail brake operably connected to the first guide rail, wherein the controller is configured to pulsate the first guide rail brake when the first wheel is at or proximate the low friction area.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include a compression mechanism, configured to compress the first wheel against the first surface of the guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include that the controller is configured to increase compression of the first wheel against the first surface of the guide beam when the first wheel is at or proximate the low friction area.
According to another embodiment, a method of operating an elevator system is provided. The method including: rotating, using a first electric motor of a beam climber system, a first wheel, the first wheel being in contact with a first surface of a first guide beam that extends vertically through an elevator shaft; moving, using the beam climber system, an elevator car through the elevator shaft when the first wheel of the beam climber system rotates along the first surface of the first guide beam; and determining, using a controller, wheel slippage in a low friction area along the first guide beam.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include detecting, using a sensor, a rotational wheel speed of the first wheel, wherein the controller is configured to determine wheel slippage when the rotational wheel speed is outside of a rotational wheel speed tolerance range.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include detecting, using an accelerometer, a speed of the elevator car or the beam climber system, wherein the controller is configured to determine wheel slippage when the speed is greater than an expected speed.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include detecting, using a sensor, a torque of the first electric motor, wherein the controller is configured to determine wheel slippage when the torque is outside of a torque tolerance range.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include detecting, using a sensor, a rotational wheel speed of the first wheel; and detecting, using a sensor, a torque of the first electric motor, wherein the controller is configured to determine wheel slippage when the rotational wheel speed is outside of a rotational wheel speed tolerance range and the torque is outside of a torque tolerance range.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include activating, using the controller, a first motor brake when the first wheel is at or proximate the low friction area, the first motor brake being mechanically connected to the first electric motor.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include activating, using the controller, a first guide rail brake when the first wheel is at or proximate the low friction area, the first guide rail brake being operably connected to a first guide rail that extends vertically through the elevator shaft.
In addition to one or more of the features described herein, or as an alternative, further embodiments may include compressing, using a compression mechanism, the first wheel against the first surface of the first guide beam.
Technical effects of embodiments of the present disclosure include detecting wheel slippage of a beam climber system through an increasing, rotational wheel speed, decreasing torque, and a variance in speed detections.
The foregoing features and elements may be combined in various combinations without exclusivity, unless expressly indicated otherwise. These features and elements as well as the operation thereof will become more apparent in light of the following description and the accompanying drawings. It should be understood, however, that the following description and drawings are intended to be illustrative and explanatory in nature and non-limiting.
The present disclosure is illustrated by way of example and not limited in the accompanying figures in which like reference numerals indicate similar elements.
The beam climber system 130 is configured to move the elevator car 103 within the elevator shaft 117 and along guide rails 109a, 109b that extend vertically through the elevator shaft 117. In an embodiment, the guide rails 109a, 109b are T-beams. The beam climber system 130 includes one or more electric motors 132a, 132b. The electric motors 132a, 132b are configured to move the beam climber system 130 within the elevator shaft 117 by rotating one or more wheels 134a, 134b that are pressed against a guide beam 111a, 111b. In an embodiment, the guide beams 111a, 111b are I-beams. It is understood that while an I-beam is illustrated, any beam or similar structure may be utilized with the embodiment described herein. Friction between the wheels 134a, 134b, 134c, 134d driven by the electric motors 132a, 132b allows the wheels 134a, 134b, 134c, 134d to climb up 21 and down 22 the guide beams 111a, 111b. The guide beam extends vertically through the elevator shaft 117. It is understood that while two guide beams 111a, 111b are illustrated, the embodiments disclosed herein may be utilized with one or more guide beams. It is also understood that while two electric motors 132a, 132b are illustrated, the embodiments disclosed herein may be applicable to beam climber systems 130 having one or more electric motors. For example, the beam climber system 130 may have one electric motor for each of the four wheels 134a, 134b, 134c, 134d. The electrical motors 132a, 132b may be permanent magnet electrical motors, asynchronous motor, or any electrical motor known to one of skill in the art. In other embodiments, not illustrated herein, another configuration could have the powered wheels at two different vertical locations (i.e., at bottom and top of an elevator car 103).
The first guide beam 111a includes a web portion 113a and two flange portions 114a. The web portion 113a of the first guide beam 111a includes a first surface 112a and a second surface 112b opposite the first surface 112a. A first wheel 134a is in contact with the first surface 112a and a second wheel 134b is in contact with the second surface 112b. The first wheel 134a may be in contact with the first surface 112a through a tire 135 and the second wheel 134b may be in contact with the second surface 112b through a tire 135. The first wheel 134a is compressed against the first surface 112a of the first guide beam 111a by a first compression mechanism 150a and the second wheel 134b is compressed against the second surface 112b of the first guide beam 111a by the first compression mechanism 150a. The first compression mechanism 150a compresses the first wheel 134a and the second wheel 134b together to clamp onto the web portion 113a of the first guide beam 111a. The first compression mechanism 150a may be a metallic or elastomeric spring mechanism, a pneumatic mechanism, a hydraulic mechanism, a turnbuckle mechanism, an electromechanical actuator mechanism, a spring system, a hydraulic cylinder, a motorized spring setup, or any other known force actuation method. The first compression mechanism 150a may be adjustable in real-time during operation of the elevator system 101 to control compression of the first wheel 134a and the second wheel 134b on the first guide beam 111a. The first wheel 134a and the second wheel 134b may each include a tire 135 to increase traction with the first guide beam 111a.
The first surface 112a and the second surface 112b extend vertically through the shaft 117, thus creating a track for the first wheel 134a and the second wheel 134b to ride on. The flange portions 114a may work as guardrails to help guide the wheels 134a, 134b along this track and thus help prevent the wheels 134a, 134b from running off track.
The first electric motor 132a is configured to rotate the first wheel 134a to climb up 21 or down 22 the first guide beam 111a. The first electric motor 132a may also include a first motor brake 137a to slow and stop rotation of the first electric motor 132a. The first motor brake 137a may be mechanically connected to the first electric motor 132a. The first motor brake 137a may be a clutch system, a disc brake system, a drum brake system, a brake on a rotor of the first electric motor 132a, an electronic braking, an Eddy current brakes, a Magnetorheological fluid brake or any other known braking system. The beam climber system 130 may also include a first guide rail brake 138a operably connected to the first guide rail 109a. The first guide rail brake 138a is configured to slow movement of the beam climber system 130 by clamping onto the first guide rail 109a. The first guide rail brake 138a may be a caliper brake acting on the first guide rail 109a on the beam climber system 130, or caliper brakes acting on the first guide rail 109 proximate the elevator car 103.
The second guide beam 111b includes a web portion 113b and two flange portions 114b. The web portion 113b of the second guide beam 111b includes a first surface 112c and a second surface 112d opposite the first surface 112c. A third wheel 134c is in contact with the first surface 112c and a fourth wheel 134d is in contact with the second surface 112d. The third wheel 134c may be in contact with the first surface 112c through a tire 135 and the fourth wheel 134d may be in contact with the second surface 112d through a tire 135. A third wheel 134c is compressed against the first surface 112c of the second guide beam 111b by a second compression mechanism 150b and a fourth wheel 134d is compressed against the second surface 112d of the second guide beam 111b by the second compression mechanism 150b. The second compression mechanism 150b compresses the third wheel 134c and the fourth wheel 134d together to clamp onto the web portion 113b of the second guide beam 111b. The second compression mechanism 150b may be a spring mechanism, turnbuckle mechanism, an actuator mechanism, a spring system, a hydraulic cylinder, and/or a motorized spring setup. The second compression mechanism 150b may be adjustable in real-time during operation of the elevator system 101 to control compression of the third wheel 134c and the fourth wheel 134d on the second guide beam 111b. The third wheel 134c and the fourth wheel 134d may each include a tire 135 to increase traction with the second guide beam 111b.
The first surface 112c and the second surface 112d extend vertically through the shaft 117, thus creating a track for the third wheel 134c and the fourth wheel 134d to ride on. The flange portions 114b may work as guardrails to help guide the wheels 134c, 134d along this track and thus help prevent the wheels 134c, 134d from running off track.
The second electric motor 132b is configured to rotate the third wheel 134c to climb up 21 or down 22 the second guide beam 111b. The second electric motor 132b may also include a second motor brake 137b to slow and stop rotation of the second motor 132b. The second motor brake 137b may be mechanically connected to the second motor 132b. The second motor brake 137b may be a clutch system, a disc brake system, drum brake system, a brake on a rotor of the second electric motor 132b, an electronic braking, an Eddy current brake, a Magnetorheological fluid brake, or any other known braking system. The beam climber system 130 includes a second guide rail brake 138b operably connected to the second guide rail 109b. The second guide rail brake 138b is configured to slow movement of the beam climber system 130 by clamping onto the second guide rail 109b. The second guide rail brake 138b may be a caliper brake acting on the first guide rail 109a on the beam climber system 130, or caliper brakes acting on the first guide rail 109 proximate the elevator car 103.
The elevator system 101 may also include a position reference system 113. The position reference system 113 may be mounted on a fixed part at the top of the elevator shaft 117, such as on a support or guide rail 109, and may be configured to provide position signals related to a position of the elevator car 103 within the elevator shaft 117. In other embodiments, the position reference system 113 may be directly mounted to a moving component of the elevator system (e.g., the elevator car 103 or the beam climber system 130), or may be located in other positions and/or configurations as known in the art. The position reference system 113 can be any device or mechanism for monitoring a position of an elevator car within the elevator shaft 117, as known in the art. For example, without limitation, the position reference system 113 can be an encoder, sensor, accelerometer, altimeter, pressure sensor, range finder, or other system and can include velocity sensing, absolute position sensing, etc., as will be appreciated by those of skill in the art.
The controller 115 may be an electronic controller including a processor 116 and an associated memory 119 comprising computer-executable instructions that, when executed by the processor 116, cause the processor 116 to perform various operations. The processor 116 may be, but is not limited to, a single-processor or multi-processor system of any of a wide array of possible architectures, including field programmable gate array (FPGA), central processing unit (CPU), application specific integrated circuits (ASIC), digital signal processor (DSP) or graphics processing unit (GPU) hardware arranged homogenously or heterogeneously. The memory 119 may be but is not limited to a random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic or any other computer readable medium.
The controller 115 is configured to control the operation of the elevator car 103 and the beam climber system 130. For example, the controller 115 may provide drive signals to the beam climber system 130 to control the acceleration, deceleration, leveling, stopping, etc. of the elevator car 103.
The controller 115 may also be configured to receive position signals from the position reference system 113 or any other desired position reference device.
When moving up 21 or down 22 within the elevator shaft 117 along the guide rails 109a, 109b, the elevator car 103 may stop at one or more landings 125 as controlled by the controller 115. In one embodiment, the controller 115 may be located remotely or in the cloud. In another embodiment, the controller 115 may be located on the beam climber system 130. In embodiment, the controller 130 controls on-board motion control of the beam climber system 115 (e.g., a supervisory function above the individual motor controllers).
The power supply 120 for the elevator system 101 may be any power source, including a power grid and/or battery power which, in combination with other components, is supplied to the beam climber system 130. In one embodiment, power source 120 may be located on the beam climber system 130. In an embodiment, the power supply 120 is a battery that is included in the beam climber system 130.
The elevator system 101 may also include an accelerometer 107 attached to the elevator car 103 or the beam climber system 130. The accelerometer 107 is configured to detect an acceleration and/or a speed of the elevator car 103 and the beam climber system 130.
Referring now to
The monitoring system 200 includes a sensor 210 configured to detect rotational wheel speed Nw of the wheels 134a, 134b, 134c, 134d, which helps detect wheel slippage and low friction areas 222 along the guide beam 111a, 111b. A rotational wheel speed Nw outside of a rotation wheel speed tolerance range may indicate wheel slippage. The sensor 210 may be configured to detect rotational wheel speed Nw by detecting electrical power consumption by electric motors 132a, 132b or physically/mechanically detect rotational speed of the wheels 134a, 134b, 134c, 134d or the electric motors 132a, 132b. Alternatively, the sensor 210 may be a rotary encoder on a motor shaft of the electric motors 132a, 132b, electromagnetic, or optical sensor.
In one example, if the tire 135 of the first wheel 134a is slipping or loosing grip with the first surface 112a of the web portion 113a of the first guide beam 11a, then first electric motor 132a will momentarily spin faster at this low friction area 222 as the first wheel 134a is slipping, as shown by the rotational wheel speed versus time chart 220 in
The monitoring system 200 includes a sensor 210 configured to detect motor torque, which helps the controller 115 detect wheel slippage in a low friction area along the guide beam 111a, 111b. A torque outside of a torque tolerance range may indicate wheel slippage. The torque is a product of the radius of the wheel 134a, 134b, 134c, 134d, multiplied by the propulsion thrust FV. The coefficient of friction is equal to the propulsion thrust FV divided by the normal force FN of the wheels 134a, 134b, 134c, 134d.
The torque may be determined from a motor current of an electric motor 132a, 132b, which is directly related to the motor torque via a torque constant Kt. That is, RwFv=Kt Im, where Rw is a radius of the wheel 134a, 134b, 134c, 134d and Im is motor current. Motor torque is approximated by Kt Im. It is noted that Kt may not always be constant and could change with a motor winding temperature, but it may be reasonable to assume it is a constant during a single run so any significant torque variations do indicate slippage.
In one example, if the tire 135 of the first wheel 134a is slipping or loosing grip with the first surface 112a of the web portion 113a of the first guide beam, then first electric motor 132a will momentarily spin freely (i.e., lower torque) at this low friction area 222 as the first wheel 134a is slipping, as shown by the wheel torque versus time chart 230 in
As indicated by the rotational wheel speed versus time chart 220 and the wheel torque versus time chart 230 in
The controller 115 may generate a low friction area map 240 of the low friction area 222 (e.g., low friction regions) for each of the first wheel 134a, the second wheel 134b, the third wheel 134c, and the fourth wheel 134d.
In one embodiment, the low friction area 22 may be detected using only rotational wheel speed Nw or only motor torque. In another embodiment, the low friction area 22 may be detected using both rotational wheel speed Nw and motor torque in combination. For example, rotational wheel speed Nw may be used to double check motor torque or motor torque may be used to double check rotational wheel speed Nw.
The controller 115 may be configured to activate an alarm 359 in response to this low friction area 222. The alarm 359 may be an audible and/or visual alert.
The alarm 359 may be activated on a computing device 300. The computing device 300 may be local, remote, or cloud based. The computing device 300 may belong to a mechanic, owner, operator, or maintainer of the elevator system 101. The alarm 359 may indicate that the guide beam 111a, 111b should be inspected at the location of the low friction area 222. The computing device may be a personal computer, a smart phone, a smart watch, a cellular phone, a laptop computer, a desktop computer, a tablet computer, or similar computing device known to one of skill in the art. The computing device 300 is in electronic communication with the controller 115.
The computing device 300 may include a touch screen (not shown), mouse, keyboard, scroll wheel, physical button, or any input mechanism known to one of skill in the art. The computing device 300 may include a processor 350, memory 352 and communication module 354 as shown in
The controller 115 may be configured to adjust operation of at least one of the motor brakes 137a, 137b and the guide rail brakes 138a, 138b in response to this low friction area 222. In one embodiment, the controller 115 is configured to activate the motor brakes 137a, 137b when the wheels 134a, 134b, 134c, 134d are at or proximate the low friction area 222. In one embodiment, the controller 115 is configured to pulsate the motor brakes 137a, 137b when the wheels 134a, 134b, 134c, 134d are at or proximate the low friction area 222. In one embodiment, the controller 115 is configured to activate the guide rail brakes 138a, 138b when the wheels 134a, 134b, 134c, 134d are at or proximate the low friction area 222. In one embodiment, the controller 115 is configured to pulsate the guide rail brakes 138a, 138b when the wheels 134a, 134b, 134c, 134d are at or proximate the low friction area 222.
The controller 115 may be configured to adjust operation of the compression mechanisms 150a, 150b in response to this low friction area 222. In one embodiment, the controller 115 is configured to increase compression of the compression mechanisms 150a, 150b when the wheels 134a, 134b, 134c, 134d are at or proximate the low friction area. By increasing compression of the compression mechanisms 150, 150b, the normal forces Fn of the wheels 134a, 134b, 134c, 134d on the guide beams 111a, 111b are increased.
The controller 115 may be configured to adjust operation of the overall elevator system 101 in response to the amount of slippage and loss of friction in the low friction area 222. For example, if the coefficient of friction of the guide beam 111a, 111b has decreased below a selected coefficient of friction for safe operation of the elevator system 101, the controller 115 may shut-down the elevator system 101 until it is inspected (e.g., by a mechanic, or inspection machine) or command the elevator car 103 to only serve landings 125 above or below the low friction area 222, thus preventing the elevator car 103 from passing through the low friction area 222.
Additionally, the slippage of one of the wheels 134a, 134b, 134c, 134d may be detected by comparing a detected speed of the elevator car 103 or the beam climber system 130 to an expected speed of the elevator car 103 or the beam climber system 130. A difference greater than a selected speed tolerance between the detected speed of the elevator car 103 or the beam climber system 130 to the expected speed of the elevator car 103 or the beam climber system 130 may indicate a low friction area 222. The speed of the elevator car 103 or the beam climber system 130 may be detected by the accelerometer 107 (see
Referring now to
At block 404, a first wheel 134a is rotated using a first electric motor 132a of the beam climber system 130. The first wheel 134a being in contact with a first surface 112a of a first guide beam 111a that extends vertically through the elevator shaft 117. A compression mechanism 150a compresses the first wheel 134a against the first surface 112a of the first guide beam 111a.
At block 406, an elevator car 103 is moved through the elevator shaft 117, using the beam climber system 130, when the first wheel 134a of the beam climber system 130130 rotates along the first surface 112a of the first guide beam 111a.
At block 408, wheel slippage in a low friction area 222 along the first guide beam 111a is determined using a controller 115. An alarm 359 may be activated on a computing device 300 when the wheel slippage is detected to notify a mechanic of wheel slippage
The method 400 may further comprise that a sensor 210 detects a rotational wheel speed NW of the first wheel 134a. The controller 115 is configured to determine wheel slippage when the rotational wheel speed NW is outside of a rotational wheel speed tolerance range. Alternatively, the controller 115 may be configured to determine wheel slippage by comparing the rotational wheel speed NW of the first wheel 134a to the rotational wheel speed Nw of another wheel.
The method 400 may also comprise that an accelerometer 107 detects a speed of the elevator car 103 or the beam climber system 130. The controller 115 is configured to determine wheel slippage when the speed is greater than an expected speed.
The method 400 may further comprise that a sensor 210 detects a torque of the first electric motor 132a. The controller 115 is configured to determine wheel slippage when the torque is outside of a torque tolerance range. Alternatively, the controller 115 may be configured to determine wheel slippage by comparing the torque of the first electric motor 132 to the torque of another electric motor.
The controller 115 is configured to determine wheel slippage when the rotational wheel speed NW is outside of a rotational wheel speed tolerance range and the torque is outside of a torque tolerance range.
The method 400 may yet further comprise that a position reference system 113 detects a location of the elevator car 103 when the wheel slippage is detected.
The method 400 may yet further comprise that a controller 115 activates and/or pulsates a first motor brake 137a when the first wheel 134a is at or proximate the low friction area 222. The first motor brake 137a being mechanically connected to the first electric motor 132a.
The method 400 may yet further comprise that a controller 115 activates and/or pulsates a guide rail brake 138a when the first wheel 134a is at or proximate the low friction area 222, the first guide rail brake 138a being operably connected to a first guide rail 109a that extends vertically through the elevator shaft 117.
While the above description has described the flow process of
The present invention may be a system, a method, and/or a computer program product at any possible technical detail level of integration. 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 invention.
As described above, embodiments can be in the form of processor-implemented processes and devices for practicing those processes, such as processor. Embodiments can also be in the form of computer program code (e.g., computer program product) containing instructions embodied in tangible media (e.g., non-transitory computer readable medium), such as floppy diskettes, CD ROMs, hard drives, or any other non-transitory computer readable medium, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes a device for practicing the embodiments. Embodiments can also be in the form of computer program code, for example, whether stored in a storage medium, loaded into and/or executed by a computer, or transmitted over some transmission medium, loaded into and/or executed by a computer, or transmitted over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via electromagnetic radiation, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an device for practicing the exemplary embodiments. When implemented on a general-purpose microprocessor, the computer program code segments configure the microprocessor to create specific logic circuits.
The term “about” is intended to include the degree of error associated with measurement of the particular quantity and/or manufacturing tolerances based upon the equipment available at the time of filing the application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, element components, and/or groups thereof.
Those of skill in the art will appreciate that various example embodiments are shown and described herein, each having certain features in the particular embodiments, but the present disclosure is not thus limited. Rather, the present disclosure can be modified to incorporate any number of variations, alterations, substitutions, combinations, sub-combinations, or equivalent arrangements not heretofore described, but which are commensurate with the scope of the present disclosure. Additionally, while various embodiments of the present disclosure have been described, it is to be understood that aspects of the present disclosure may include only some of the described embodiments. Accordingly, the present disclosure is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.
