The present invention relates generally to a material property change during service of a cast component, and in particular to improved product design reliability and durability analysis accuracy by taking into consideration material property changes during the projected service life of the cast component.
The most common Al—Si based alloys used in making cast automotive engine blocks and cylinder heads are heat treatable variants, including alloy 319 (nominal composition by weight: 6.5% Si, 0.5% Fe, 0.3% Mn, 3.5% Cu, 0.4% Mg, 1.0% Zn, 0.15% Ti and balance Al) and alloy 356 (nominal composition by weight: 7.0% Si, 0.1% Fe, 0.01% Mn, 0.05% Cu, 0.3% Mg, 0.05% Zn, 0.15% Ti, and balance Al). Aluminum alloys like 319 and 356 are usually heat treated to T6 or T7 conditions before use by subjecting them to three main stages: (1) solution treatment at a relatively high temperature below the melting point of the alloy, often for times exceeding 8 hours or more to dissolve its alloying (solute) elements and homogenize or modify the microstructure; (2) rapid cooling, or quenching, such as by cold or hot water, forced air or the like, to retain the solute elements in a supersaturated solid solution (where these two steps are also defined as T4); and (3) artificial aging (T5, which is aging without solution treatment) by holding the alloy for a period of time at an intermediate temperature suitable for achieving hardening or strengthening through precipitation. The T4 solution treatment serves three main purposes: (1) dissolution of elements that will later cause age hardening; (2) spherodization of undissolved constituents; and (3) homogenization of solute concentrations in the material. The post-T4 quenching is used to retain the solute elements in a supersaturated solid solution (SSS) and also to create a supersaturation of vacancies that enhance the diffusion and the dispersion of precipitates, while aging (either the natural or T5 artificial variant) creates a controlled dispersion of strengthening precipitates.
Components made from heat-treated aluminum-based castings (such as turbocharger housings in addition to the aforementioned cylinder heads and engine blocks) change properties during service due to thermal effects. In fact, in-service property changes can significantly alter the ability to predict component life and reliability, where such post-manufacturing material property change is not considered in current product design and durability analysis methods. In one example, engine blocks and particularly cylinder heads made of such aluminum alloys may be subjected to age hardening or softening during engine operation such that they experience thermal mechanical fatigue (TMF) over time in service. This problem is especially acute in high performance engine applications where exposure to elevated temperatures (such as due to its proximity to exhaust gas, oil, coolant or the like) is encountered. Present durability analysis and life prediction (such as fatigue analysis or related life prediction) of cast components methods often resort to making simplifying assumptions—such as constant material properties—that in fact don't represent these material property changes that take place over time; analyses based on such assumptions are subject to inaccuracies as the component in-service time lengthens.
One aspect of the invention involves a method to determine in-service material property changes to cast aluminum components by incorporating non-uniform transient (i.e., time-dependent) temperature distributions of the cast component during its service life into nonlinear heat treatable aluminum casting constitutive behavior. In the present invention, the conventional constitutive model (which only considers strain and thermal (creep) effects) is augmented by a viscoplastic model that includes time-dependent material property changes that take into consideration precipitation hardening and softening that can be expected to occur in a component that is subjected to high temperatures for a long time during its in-service life. By the present invention, these prolonged high temperature conditions of a heat-treated material can be accurately modeled through a simulation of a substantially continuous aging process associated with such long-term operation of the component.
The in-service transient temperature distribution can be calculated using solid mechanics discretization techniques, such as finite element analysis (FEA) based on component service conditions, while the nonlinear constitutive behavior may be modeled as a function of temperatures, time, microstructure variations and even strain rate. A material constitutive model (which describes macroscopic behavior resulting from the internal constitution of the material) establishes a relation between quantities that are particular to a given alloy as a way to predict the response of a component using such alloy to applied loads. Such a model may be thought of as a formulation of separate equations to describe an idealized material response as a way to approximate physical observations associated with the response of the actual material. By way of example, the constitutive model accounts for not only strain hardening and creep, but also precipitate hardening or softening. Significantly, such an approach can help improve product durability analysis accuracy, improve product design robustness and reduce product design iterations, analysis cost and part warranty cost.
The quantified time and temperature-dependent nodal material property values are preferably put into a user-ready format, such as a printout suitable for human reading or viewing, or data in computer-readable format that can be subsequently operated upon by a computer-readable algorithm (such as for additional analytical investigation or determination), computer printout device or other suitable means.
The following detailed description of the present invention can be best understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which:
Referring first to
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System 1 includes a computer 10 or related data processing equipment that includes a processing unit 11 (which may be in the form of one or more microprocessors or related processing means), one or more mechanisms for information input 12 (including a keyboard, mouse or other device, such as a voice-recognition receiver (not shown)), as well as one or more loaders 13 (which may be in the form of magnetic or optical memory or related storage in the form of CDs, DVDs, USB port or the like), one or more display screens or related information output 14, a memory 15 and computer-readable program code means (not shown) to process at least a portion of the received information relating to the aluminum alloy. As will be appreciated by those skilled in the art, memory 15 may be in the form of random-access memory (RAM, also called mass memory, which can be used for the temporary storage of data) and instruction-storing memory in the form of read-only memory (ROM). In addition to other forms of input not shown (such as through an internet or related connection to an outside source of data), the loaders 13 may serve as a way to load data or program instructions from one computer-usable medium (such as flash drives or the aforementioned CDs, DVDs or related media) to another (such as memory 15). As will be appreciated by those skilled in the art, computer 10 may exist as an autonomous (i.e., stand-alone) unit, or may be the part of a larger network such as those encountered in cloud computing, where various computation, software, data access and storage services may reside in disparate physical locations. Such a dissociation of the computational resources does not detract from such a system being categorized as a computer.
In a particular form, the computer-readable program code that contains the algorithms and formulae mentioned above can be loaded into RAM that is part of memory 15. Such computer-readable program code may also be formed as part of an article of manufacture such that the instructions contained in the code are situated on a magnetically-readable or optically-readable disk or other related non-transitory, machine-readable medium, such as flash memory device, CDs, DVDs, EEPROMs, floppy disks or other such medium capable of storing machine-executable instructions and data structures. Such a medium is capable of being accessed by computer 10 or other electronic device having processing unit 11 used for interpreting instructions from the computer-readable program code. Together, the processor 11 and any program code configured to be executed by the processor 11 define a means to perform one or more of the precipitate size and distribution as well as materials constitutive behavior calculations discussed herein. As will be understood by those skilled in the computer art, a computer 10 that forms a part of computer aided engineering system 1 may additionally include additional chipsets, as well as a bus and related wiring for conveying data and related information between processing unit 11 and other devices (such as the aforementioned input, output and memory devices). Upon having the program code means loaded into RAM, the computer 10 of system 1 becomes a specific-purpose machine configured to determine time-dependent material properties in a manner as described herein. In another aspect, system 1 may be just the instruction code (including that of the various program modules (not shown)), while in still another aspect, system 1 may include both the instruction code and a computer-readable medium such as mentioned above.
It will also be appreciated by those skilled in the art that there are other ways to receive data and related information besides the manual input approach depicted in input 12 (especially in situations where large amounts of data are being input), and that any conventional means for providing such data in order to allow processing unit 11 to operate on it is within the scope of the present invention. As such, input 12 may also be in the form of high-throughput data line (including the internet connection mentioned above) in order to accept large amounts of code, input data or other information into memory 15. The information output 14 is configured to convey information relating to the desired casting approach to a user (when, for example, the information output 14 is in the form of a screen as shown) or to another program or model; all such forms are deemed to be in user-ready format so long as they are in a form that can be viewed and understood by a human user, or otherwise made available as a structured data format for subsequent analysis or processing in a computational algorithm or related programming routine. It will likewise be appreciated by those skilled in the art that the features associated with the input 12 and output 14 may be combined into a single functional unit such as a graphical user interface (GUI).
Referring next to
In general, the present invention solves a set of discretized partial differential equations, and in particular uses time and temperature dependent material data rather than just temperature dependent data. As such, information generated in the present invention differs from traditional iterative approaches to get a best solution in that it conducts a continuous analysis of the component or system during a period of time or a number of cycles that correspond to the component's service life. Particular forms of solid mechanics discretization techniques, such as the material constitutive model 140 and the FEA user-defined materials model 150, may be loaded into memory 15 as computer-readable program code for operation upon by processing unit 11 in order to perform one or more algorithmic calculations. As such,
Referring next to
where σ is the stress (MPa) at some plastic strain εp beyond the yield point, K is a material strength constant, n is the strain hardening coefficient, {dot over (ε)}p is the plastic strain rate (s−1), εo is a constant, m is the strain rate sensitivity coefficient, and εp is the total plastic strain accumulated by the material at temperatures below 400 ° C. (above which temperature it is assumed that no strain hardening occurs, and the flow stress is purely dependent on temperature and strain rate). The two coefficients {dot over (ε)}p0=1×10−4 and εpo=1×10−6 are determined experimentally.
Another approach is to employ viscoplastic constitutive models. A first type of viscoplastic model that only considers plastic hardening corresponds to Eqns. 1 through 5 below. A second type of viscoplastic model—which includes thermal strain effects—corresponds to Eqns. 6 through 8 below, while a third type is a modified MTS model that corresponds to Eqns. 9 through 12 below, which adds precipitation hardening/softening to represent the material property change during service of the respective component. Unlike simple equations for ideal materials (such as Newtonian/viscous fluids—where stress depends on the rate of deformation—at one end of the idealized material spectrum or Hookean/elastic solids—where stress depends on the strain—at the other end of the idealized material spectrum), constitutive equations for more complex materials may take into consideration plasticity, viscoelasticity and viscoplasticity as a way to address the analytical needs associated with a time-dependent material (such as cast aluminum alloys) that exist somewhere in-between. With particular regard to viscoplastic materials (with their ability to withstand a shear stress up to a point), a unified viscoplastic model can be expressed as:
where work-hardening assumptions to account for changes in properties (such as yield functions) in response to plastic deformation may be expressed in various ways. For example, kinematic hardening
and isotropic hardening (where the yield surface maintains its shape while the size increase is controlled by a single parameter depending on the degree of plastic deformation)
{dot over (R)}=f(R,hα){dot over (p)}−frd(R,h60)R−frd(R,hα) (4)
may be considered to be two forms of such simplifying assumptions. Likewise, the drag stress evolution
{dot over (K)}=φ(K,hα){dot over (p)}−φrd(K,hα)K−φrs(K,hα) (5)
is used to quantify the drag stress induced by material internal friction resistance. In general, the drag stress is part of viscoplastic model; what the present inventors have discovered is that inclusion of precipitation hardening (i.e., the third term on the right side of Eqn. 9 below) helps to provide more accuracy to the calculation.
To that end, some background discussion on isotropic and kinematic hardening (as well as the inelastic response of metals) helps explain the features of the present invention in more detail. Regarding the inelastic response of metals first, in general, the results of a typical tension/compression test on an annealed, ductile, polycrystalline metal specimen (such as Cu or Al) could be based on the assumption that the test is conducted at moderate temperature (for example, at room temperature, which may be less than half the material's melting point) and at modest strains (for example, less than 10%), as well as at modest strain rates (for example, 10 to 1/100 per second), An exemplary form of such a response is shown in
Regarding the isotropic and kinematic hardening, if a solid material is plastically deformed via loading and unloading, and then reloaded as a way to induce further plastic flow, its resistance to such plastic flow will have increased. In other words, its yield point/elastic limit increases, meaning that plastic flow begins at a higher stress than in the previous cycle. This phenomenon is known as strain hardening, which can be PEA modeled in a couple of different ways (one of which is achieved by isotropic hardening, and the other by kinematic hardening). For isotropic hardening, the process of plastically deforming a solid, then unloading it, then attempting to reload it again will show signs of increasing yield stress or elastic limit) compared to what it was in the first cycle. Subsequent repetition would show further increases as long as each reload is past its previously reached maximum stress; such reloading may continue until a stage (or a cycle) is reached that the solid deforms elastically throughout. In essence, isotropic hardening means that a material will not yield in compression until it reaches the level past yield that which was attained when it was loaded in tension. Thus, if the yield stress in tension increases due to hardening, the compression yield stress grows the same amount even though the specimen may not have been loaded in compression. This type of hardening is useful in PEA models to describe plasticity, but not used in situations where components are subjected to cyclic loading. Isotropic hardening does not account for the aforementioned Bauschinger effect and predicts that after a few cycles, the solid material will just harden until it responds elastically. Because actual metals exhibit some isotropic hardening and some kinematic hardening, a way is needed to correct for kinematic hardening effects, where the cyclic softening of the material takes place in compression and thus can correctly model cyclic behavior and the Bauschinger effect. In cyclic softening, the material gets soft after certain number of cycles, and is generally attributed to micro damage of the second phase particles. Likewise, thermal exposure may be used to simulate the situation when the material is subject to high temperature during service, while phase transformation is the continuous aging during service for heat-treatable materials like aluminum alloys, and microstructure variations indicates that the model coefficients are calibrated with different types of microstructure, such as fine and coarse microstructures.
With that overview of the inelastic response of metals, as well as isotropic and kinematic hardening, metal plasticity involves the assumption that the plastic strain increment and deviatoric stress tensor have the same principal directions; this assumption is encapsulated in a relation called the flow rule. In it, the thermo-viscoelastic materials constitutive model correlates the rule to a drag stress evolution factor and a back stress evolution factor, where the drag stress is similar to isotropic hardening in monotonic tension, which accounts for cyclic hardening or softening, and the influence of plasticity on creep or vice versa. Likewise, the back stress is similar to kinematic hardening in monotonic tension, and is used to predict the Bauschinger effect in room temperature loading, as well as the transient and steady-state creep response at high temperature. The equations above are recast from the above as follows, where the first includes the flow rule:
The second shows the drag stress evolution:
and the third shows the back stress evolution:
Referring with particularity to
The evolution equations for the kinematic (Eqns. 2 and 3), isotropic (Eqn. 4) and drag stress (Eqn. 5) generally include three parts: the hardening term, the dynamic recovery term and the static recovery term. While most viscoplastic models can describe the time-dependent cyclic inelastic deformation (including the strain rate sensitivity and the dwell time effect), they cannot represent the cyclic thermal-mechanical inelastic deformation behavior, impact of unusual amount of cyclic softening, thermal exposure (including phase transformation) and microstructure variations.
According to the present invention, the total strain is divided into elastic, plastic, creep and other strains due to thermal exposure of heat-treatable cast aluminum alloys. The plastic strain is described by time-independent plastic model while the creep strain is characterized by creep law. As discussed above, various constitutive models including empirical/semi-empirical models and viscoplastic constitutive models may be used to model material behavior, where the viscoplastic constitutive models may further include variants with strain hardening only, strain and thermal hardening/softening models and precipitation hardening/softening models; the present inventors have found this last variant (which is described according to the equations and discussion below) to be particularly useful. In particular, a precipitate hardening/softening model takes into consideration thermal strain due to phase transformation; this is described by.
where Ce({dot over (ε)},T), Cp({dot over (ε)},T), and Cppt({dot over (ε)},T) are referred to as velocity (i.e., strain-rate)-modified temperature-dependent coefficients for intrinsic strength, strain hardening, and precipitation hardening, respectively; T is measured in Kelvin; μ0=28.815 GPa is the reference value at 0 K and {dot over (ε)}=107 s−1 for cast aluminum; and μ(T) is the temperature-dependent shear modulus, given as
Thus, in the present invention, the material property changes that take place over the projected service life of the cast component overcomes the limitation of known viscoplastic models through the addition of the third term in Eqn. 9. Because the third term of Eqn. 9 above takes into consideration precipitation hardening, the equation can account for material property changes that occur during the service life of the component.
Before yield, the stress-strain curve is treated in this model as being fully elastic, depending only on the Young's Modulus E and yield stress σy, where the former (in MPa) is determined from the stress-strain curves of tensile tests at different temperatures (in Kelvin) and strain rates using the following second-order polynomial.
E=67,599+72.353T−0.14767T2 (11)
At yield, {circumflex over (σ)}p=0, and the yielding stress σy depends only on the intrinsic strength {circumflex over (σ)}e, scaled by Ce({dot over (ε)},T). Likewise, after yield, the flow stress is modeled through the evolution of {circumflex over (σ)}p and {circumflex over (σ)}ppt, where preferably, a linear form is used for strain hardening.
In the above, θ0 represents the slope of the stress-strain curve at yield in the reference state (0 K, {dot over (ε)}=107 s−1) and {circumflex over (σ)}os is a material parameter. The precipitation hardening can be described as:
where M is the Taylor factor, b is the Burgers vector, req and l are precipitate equivalent circle radius (req=0.5deq) and spacing on the dislocation line, respectively. Furthermore, f(req) is the precipitate size distribution, f(l) is the particle spacing distribution and F(req) is the obstacle strength of a precipitate of radius req. The Burgers vector b represents the magnitude and direction of the lattice distortion of dislocation in a crystal lattice, and is equal to 2.86×10−10 m for an aluminum alloy. Thus, when the material is continuously subject to aging during component service, the present inventors have discovered that the inclusion of a variable material property term in the constitutive model to take into consideration these precipitation hardening or softening effects significantly improves the accuracy of component mechanical property behavior calculations.
Assuming solute concentrations are constant as stated above, only two length scales (l and req) of precipitate distribution affect the materials strength. These two length scales are related to the age hardening process and are functions of aging temperature (T) and aging time (t). Therefore, Eqn. (4) can be rewritten to a general form:
The two length scales of precipitate distribution (l and req) can be obtained empirically from experimental measurements or by computational thermodynamics and kinetics. In the present invention, the model is theoretically based on the fundamental nucleation and growth theories. The driving force (per mole of solute atom) for precipitation is calculated using:
where Vatom is the atomic volume (m3mol−1), R is the universal gas constant (8.314 J/K mol), T is the temperature (K), C0, Ceq, and Cp are mean solute concentrations by atom percentage in matrix, equilibrium precipitate-matrix interface, and precipitates, respectively. From the driving force, a critical radius req* is derived for the precipitates at a given matrix concentration C:
where γ is the particle/matrix interfacial energy.
The variation of the precipitate density (number of precipitates per unit volume) is given by the nucleation rate. The evolution of the mean precipitate size (radius) is given by the combination of the growth of existing precipitates and the addition of new precipitates at the critical nucleation radius req*. The nucleation rate is calculated using a standard Becker-Doring law:
where N is the precipitate density (number of precipitates per unit volume), N0 is the number of atoms per unit volume (=1/Vatom) and Z is Zeldovich's factor (≈1/20). The evolution of the precipitate size is calculated by:
where D is the diffusion coefficient of solute atom in solvent.
In the late stages of precipitation, the precipitates continue growing and coarsening, while the nucleation rate decreases significantly due to the desaturation of solid solution. When the mean precipitate size is much larger than the critical radius, it is valid to consider growth only. When the mean radius and the critical radius are equal, the conditions for the standard Lifshitz-Slyozov-Wagner (LSW) law are fulfilled. Under the LSW law, the radius of a growing particle is a function of t1/3 (where t is the time). The precipitate radius can be calculated by:
Several assumptions are made in calculating the particle spacing along the dislocation line. First, a steady state number of precipitates along the moving dislocation line is assumed, following Friedel's statistics for low obstacle strengths. After assuming a steady state number of precipitates, the precipitate spacing is then given by the calculation of the dislocation curvature under the applied resolved shear stress, τ on the slip plane:
where fv is the volume fraction of precipitates and
The volume fraction of precipitates (fv) can be determined experimentally by Transmission Electron Microscopy (TEM) or the Hierarchical Hybrid Control (HHC) model. In the HHC model, the volume fraction of precipitates can be calculated:
where α is the aspect ratio of precipitates, A0 is the Avogadro number, ΔG* is the critical activation energy for precipitation, the parameter of β* is obtained by
β*=4π(req*)2DC0/a4 (22)
where a is the lattice parameter of precipitate.
In computational thermodynamics approaches, a commercially available aluminum database, for instance Pandat®, is employed to calculate precipitate equilibriums, such as β phase in Al—Si—Mg alloy and θ phase in Al—Si—Mg—Cu alloy. The equilibrium phase fractions, or the atomic % solute in the hardening phases are parameterized from computational thermodynamics calculations. The equilibrium phase fractions are dependent upon temperature and solute concentration, but independent of aging time (fieq(T,C)).
Many metastable precipitate phases, such as β″, β′ in Al—Si—Mg alloy and θ′ in Al—Si—Mg—Cu alloy are absent from the existing computational thermodynamics database. The computational thermodynamics calculations alone cannot deliver the values of metastable phase fractions. In this case, the density-functional based first-principles methods are adopted to produce some properties such as energetics, which are needed by computational thermodynamics. Density functional theory (DFT) is a quantum mechanical theory commonly used in physics and chemistry to investigate the ground state of many-body systems, in particular atoms, molecules and the condensed phases. The main idea of DFT is to describe an interacting system of fermions via its density and not via its many-body wave function. First-principles methods, also based on quantum-mechanical electronic structure theory of solids, produce properties such as energetics without reference to any experimental data. The free energies of metastable phases can be described by a simple linear functional form:
ΔGi(T)=c1+c2T (23)
where c1 and c2 are coefficients. c1 is equivalent to enthalpies of formation of metastable phases at absolute zero temperature (T=0 K). By replacing the unknown parameter c1 in Eqn. 14 with the formation enthalpy at T=0 K from first-principles, the free energy can be rewritten as
ΔGi(T)=ΔHi(T=0K)+c2T (24)
The other unknown parameter c2 can then be determined simply by fitting the free energies of liquid and solid to be equal at the melting point.
After calculating the strength increase due to precipitation hardening (Δσppt), the yield strength of aluminum alloys can be simply calculated by adding it to the intrinsic strength (σi) and the solid-solution strength of the material:
σys=σi+σss+Δσppt (25)
The solid solution contribution to the yield strength is calculated as:
σss=KCGP/ss2/3 (26)
where K is a constant and CGP/ss is the concentration of strengthening solute that is not in the precipitates. The intrinsic strength (σi) includes various strengthening effects such as grain/cell boundaries, the eutectic particles (in cast aluminum alloys), the aluminum matrix, and solid-solution strengthening due to alloying elements other than elements in precipitates.
Referring next to
Regarding the determination of an in-service transient temperature distribution, the material constitutive models are coupled in an FEA analysis (for example, Abaqus FEA or the like) using a particular material's subroutine (such as UMAT in Abaqus FEA) to provide a user-defined mechanical behavior of a particular material. Significantly, such a material subroutine will be helpful in that it may be called at all material calculation nodal points for which the material definition includes time-dependent material behavior, and may use solution-dependent variables. Moreover, such a subroutine can be used to update stresses and solution-dependent state variables to their values at the end of the particular time increment for which the subroutine is called as a way to provide a material matrix (for example, a Jacobian matrix) for the constitutive model.
Referring next to
In structural durability analysis, the FEA code (for instance the aforementioned Abaqus FEA) chooses a proper time increment for each step and calls the materials subroutine for calculating thermal strains and stresses at each integration point. The strain increments at integration points of each element are calculated from the temperature change and geometry structure based on the assumption of zero plastic strains. The equivalent strain increment at each integration point is calculated. The strain rate is then calculated based on the strain change at each time step.
where dεij is one of the six components of strain increment for each integration point, and dt is time increment.
The trial elastic stress is calculated based on the fully elastic strains passed in from the main routine (such as Abaqus FEA),
δij=λδijεelkk+2μεelkk (28)
where εelkk is the driving variable, which is calculated by the main routine from the temperature change and geometry structure and passed into the user-defined materials subroutine. From this, the Von Mises stress based on purely elastic behavior is calculated:
If the predicted elastic stress is larger than the current yield stress, plastic flow occurs.
The backward Euler method is used to integrate the equations for the calculation of plastic strain.
pr−3μΔ
After above equation is solved, the actual plastic strain is determined. The stresses and strains are updated using the following equations.
From this, the Jacobian Matrix at each integration point is calculated to solve plasticity equations.
Significantly, a time-independent plastic model only considers the plastic strain hardening, while creep law describes continuous straining while the stress is kept constant (or conversely, relaxation while strain is kept constant). As mentioned above, the method of the present invention includes a precipitation hardening/softening term in the viscoplastic model that makes it possible to account for material property changes when the component is subjected to elevated temperatures in a manner analogous to a continuous aging process.
It is noted that terms like “preferably,” “commonly,” and “typically” are not utilized herein to limit the scope of the claimed invention or to imply that certain features are critical, essential, or even important to the structure or function of the claimed invention. Rather, these terms are merely intended to highlight alternative or additional features that may or may not be utilized in a particular embodiment of the present invention.
For the purposes of describing and defining the present invention it is noted that the term “device” is utilized herein to represent a combination of components and individual components, regardless of whether the components are combined with other components. Likewise, a vehicle as understood in the present context includes numerous self-propelled variants, including a car, truck, aircraft, spacecraft, watercraft or motorcycle.
For the purposes of describing and defining the present invention it is noted that the term “substantially” is utilized herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. The term “substantially” is also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue.
Having described the invention in detail and by reference to specific embodiments thereof, it will be apparent that modifications and variations are possible without departing from the scope of the invention defined in the appended claims. More specifically, although some aspects of the present invention are identified herein as preferred or particularly advantageous, it is contemplated that the present invention is not necessarily limited to these preferred aspects of the invention.