The subject matter disclosed herein relates to additive manufacturing, and more particularly, to thermoplastic binders for use in binder jetting additive manufacturing techniques.
Additive manufacturing, also known as 3D printing, generally involves printing an article one layer at a time using specialized systems. In particular, a layer of a material (e.g., a metal powder bed) may be deposited on a working surface and bonded with another layer of the same or a different material. Additive manufacturing may be used to manufacture articles (e.g., fuel nozzles, fuel injectors, turbine blades, etc.) from computer aided design (CAD) models using techniques such as, but not limited to, metal laser melting, laser sintering, and binder jetting. These additive manufacturing techniques melt, sinter, or chemically bind layers of material to generate the desired article. Additive manufacturing may facilitate manufacturing of complex articles and enable flexibility for customization of articles compared to techniques such as molding (e.g., cast molding, injection molding). Additionally, additive manufacturing can reduce the overall manufacturing costs associated with generating these complex articles compared to molding techniques generally used.
In one embodiment, a method of binder jet printing a metal part includes depositing a layer of a metal powder on a working surface of a binder jet printer and selectively printing a binder solution having a reversible binder into the layer of metal powder in a pattern to generate a printed layer. The pattern is representative of a structure of a layer of the metal part. The method also includes curing the reversible binder in the printed layer to generate a layer of a green body metal part and heating the green body metal part above a first temperature to remove a substantial portion of the reversible binder and generate a brown body metal part. The brown body metal part is intended to denote a metal part stage that is between the green body metal part (e.g., a metal part stage before debinding) and a consolidated metal part (e.g., a metal part stage after a sintering process). The reversible binder is thermally decomposed to generate oligomers that remain within and strengthen the brown body metal part. The method further includes heating the brown body metal part above a second temperature to remove the oligomers and sinter the metal powder to generate the metal part. The metal part is substantially free of char residue.
In a second embodiment, a metal part manufactured via a binder jet printing process including the steps of depositing a layer of a metal powder on a working surface of a binder jet printer and selectively printing a binder solution that may be used for binder jetting into the layer of metal powder in a pattern representative of a structure of a layer of the metal part to generate a printed layer. The binder solution includes a reversible binder. The process also includes curing the printed layer to generate a green body metal part having the reversible binder and heating the green body metal part above a first temperature to remove a substantial portion of the reversible binder and to generate a brown body metal part having oligomers. The reversible binder is thermally decomposed to generate the oligomers. The process further includes heating the brown body metal part above a second temperature to remove the oligomers and sinter the metal powder to generate the metal part. The metal part is substantially free of char residue.
In a third embodiment, a binder solution that may be for use in binder jet printing, includes a reversible binder having a polymer that may thermally decompose into oligomers at a temperature range between approximately 75 degrees Celsius (° C.) and approximately 500° C. The oligomers may thermally decompose into volatile molecules that leave no char residue at a temperature range of between approximately 500° C. and approximately 1000° C.
These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:
One or more specific embodiments will be described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.
When introducing elements of various embodiments of the present invention, the articles “a,” “an,” “the,” and “said” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. Furthermore, any numerical examples in the following discussion are intended to be non-limiting, and thus additional numerical values, ranges, and percentages are within the scope of the disclosed embodiments.
There are several techniques for manufacturing articles, such as metal parts used in a variety of machinery. For example, molding techniques such as sand molding, cast molding, and/or injection molding, among others, may be used to manufacture the metal parts for machinery applications. As noted above, other techniques that may be used to manufacture metal parts include additive manufacturing. For example, additive manufacturing techniques that may be used to manufacture articles include, but are not limited to, laser melting, laser sintering, and binder jetting. Additive manufacturing may be advantageous for fabricating metal parts compared to molding techniques due, in part, to the flexibility of materials that may be used, the ability to manufacture complex articles, and low manufacturing costs.
Unlike laser melting and laser sintering additive manufacturing techniques, which heat the material to consolidate and build layers of the material to form a metal part, binder jetting uses a chemical binder to bond particles of the material into layers that form a green body of the metal part. The green body may be further processed (e.g., sintered) to consolidate the layers and form the part. Bonding layers of material using a chemical binder has been used in sand molding techniques to bond sand particles and form a sand mold that can be used to fabricate other parts. Similar to sand molding, in binder jet printing, the chemical binder is successively deposited into layers of metal powder to print the metal part. For example, the chemical binder (e.g., a polymeric adhesive) may be selectively deposited onto a metal powder bed in a pattern representative of a layer of the part being printed. Each printed layer may be cured (e.g., via heat, light, moisture, solvent evaporation, etc.) after printing to bond the metal particles of each layer together to form the green body metal part. After the green body metal part is fully formed, the chemical binder is removed during post-printing processes (e.g., debinding and sintering). It may be appreciated that such debinding and sintering steps are not part of sand molding processes, in which the chemical binder remains an integral part of the sand mold, even as the sand mold is subsequently used to form a molded metal part. However, in binder jet 3D printing, the chemical binder is an integral part of the green body metal part (e.g., the chemical binder is disposed within and in between each layer of the printed metal part), and is subsequently removed during debinding and/or sintering to form a completed 3D printed metal part. It may also be noted that binder jet printing enables the manufacture of metal parts having complex, 3D geometries that are impossible or impractical to manufacture using a sand molding manufacturing process.
However, in post-printing processes of a binder jet manufacturing method, the chemical binder may decompose in a manner that forms char residue within (e.g., between the particles of the metal powder) the metal part. For example, in binder jet 3D printing, the printed (green body) metal part may undergo a sintering process to consolidate particles of metal powder within the printed layers and increase the density of the printed metal part, thereby forming a substantially solid, consolidated metal part having sufficient strength for use in machinery. During sintering, the printed metal part is exposed to temperatures that may be near (e.g., within about 70% of) the absolute temperature melting point of the metal powder used to fabricate the printed article. Therefore, sintering temperatures may be in excess of 1000 degrees Celsius (° C.), depending on the metal powder used to fabricate the printed metal part. At the sintering temperatures, the chemical binder, which is generally an organic compound, can incompletely decompose and form a char residue that may be consolidated along with the layers in the consolidated metal part. Additionally, the sintering conditions may cause oxidation of the metal in the metal part, resulting in metal oxide formation. The char residue may affect certain properties of the article (e.g., microstructure, mechanical properties) that may result in undesirable effects (e.g., stress fractures, corrosion, etc.) when the article is in use. As used herein, the char residue is intended to denote a carbonaceous material formed from incomplete decomposition of the binder, oxygen-containing species bound to the binder, oxygen-containing species bound to the metal part (e.g., metal oxide), or combinations thereof.
Accordingly, to mitigate formation of char residue during sintering, a binder removal step is performed to remove a substantial portion of the chemical binder to form a brown body metal part before sintering. However, it is presently recognized that the brown body metal part should have sufficient handling strength (brown handling strength) to maintain the integrity of the structure until it undergoes sintering to consolidate the layers. Therefore, it is presently recognized that it is desirable for a portion of the chemical binder to remain in the brown body metal part to provide the desired brown strength.
However, chemical binders generally available for binder jet 3D printing tend to produce char residue within the consolidated metal part. For example, a process for removing the chemical binders from the brown body may be performed in an oxygen (O2) containing environment. The O2 may drive complete decomposition of the chemical binder to carbon dioxide (CO2) and water (H2O), among other decomposition by-products. However, these debinding conditions (e.g., O2-containing environment) may result in formation of metal oxides in the consolidated metal part. Accordingly, certain properties (e.g., mechanical properties) of the consolidated metal part may be undesirable and the part may be unsuitable for use in the desired machinery. As such, there is a need to develop chemical binders that can be used for binder jet 3D printing that provide sufficient bond strength to maintain the integrity of the brown body metal part before sintering, and that are cleanly removed during sintering such that the consolidated metal part is substantially free of char and any other undesirable decomposition products of the chemical binder. In addition, to clean removal of the chemical binders, the conditions used to remove the chemical binders may decrease formation of metal oxides compared to O2-containing conditions generally used for chemical binder removal. Disclosed herein are chemical binders (i.e., reversible binders) that may be used for binder jet 3D printing, that are sufficiently thermally stable to partially survive a first (debinding) heat treatment to maintain the structure of the brown body metal part, and sufficiently thermally unstable to be readily and cleanly removed from the brown body metal part during a second (sintering) heat treatment to form the consolidated metal part having minimal to no residual metal oxide content.
With the foregoing in mind,
To facilitate discussion of aspects of the method 10 illustrated in
The metal part to be printed may include a variety of metal parts having complex, 3D shapes, such as, but not limited to, fuel tips, fuel nozzles, shrouds, micro mixers, turbine blades, or any other suitable metal part. Therefore, the material 18 used to print the article may vary depending on the type of article and the end use of the article (e.g., gas turbine engines, gasification systems, etc.). By way of non-limiting example, the metal powder 18 may include: nickel alloys (e.g., Inconel 625, Inconel 718, Rene'108, Rene'80, Rene'142, Rene'195, and Rene'M2, Marm-247); cobalt alloys (e.g., Hans 188 and L605); cobalt-chromium alloys, cast alloys: (e.g., X40, X45, and FSX414), titanium alloys, aluminum-based materials, tungsten, stainless steel, or any other suitable material and combinations thereof. In certain embodiments, the metal powder 18 may have particles having a particle size distribution that is between approximately 1 micron (μm) and 75 μm. However, the metal powder 18 may have any other suitable particle size distribution.
Following deposition of the layer of metal powder 16, the method 10 continues with selectively depositing a reversible binder into portions of the layer 16 to according to a pattern (block 24). For example, the reversible binder may be selectively printed into the layer of metal powder 16 using a print head that is operated by a controller based on a CAD design that includes representation of the layer of the metal part being printed.
For example,
As discussed above, the binder solution is selectively deposited into the layer of metal powder 16 in a pattern representative of the structure of the metal part being printed.
Returning to
As discussed above, the reversible binder disclosed herein facilitates manufacturing of a 3D printed article that is substantially free of char residue that may be formed during sintering of the 3D printed article. Accordingly, the reversible binder 36 may be selected from a class of thermoplastic or thermoset polymers that generally decompose into oligomers that enable good brown handling strength, and that can be cleanly and readily removed during sintering, to generate a consolidated metal part that is substantially free of the reversible binder 36 and decomposition products (e.g., char) that may be generated during post-printing processes conditions.
For example, as discussed in further detail below, certain post-printing processing conditions may decompose the reversible binder 36 into oligomers that continue to bond the layers 56 of the brown body metal part such that the integrity of the structure of the brown body metal part is not affected. The oligomers may be further broken down in a separate post-printing process into smaller molecules (e.g., decomposition products that are similar or identical to the monomers used to derive the reversible binder 36). These decomposition products may be gaseous at room temperature or may have a boiling point that facilitates removal of the decomposition products under the conditions associated with the post-printing processes, as discussed in further detail below. Accordingly, the article resulting from the printing and post-printing processes (i.e., the finished or consolidated metal part) may be substantially free of both the reversible binder 36 and char residue (e.g., carbonaceous material from incomplete decomposition of the reversible binder 36, oxygen-containing species bound to the reversible binder 36, oxygen containing species bound to the metal part (e.g., metal oxides), and combinations thereof). Therefore, the properties (e.g., microstructure, mechanical properties, etc.) of the resultant metal part may be similar or equal to the properties of the metal powder 18 used to generate the resultant metal part.
The reversible binder 36 in accordance with the present disclosure may include polymers derived from unsaturated monomers. For example, the reversible binder 36 may one or more polymers have the following formulas: (CH2CHR)n, where R=—H, —OH, phenyl, alkyl, aryl. The reversible binder 36 may also include one or more mono-functional acrylic polymers having the formula (CH2—CR2COOR1)n, where R1=alkyl, aryl, and R2=H or CH3, di-acrylic polymers having the formula [(CH2—CR2COO)2—R3]n, where R2=H or CH3 and R3=a divalent hydrocarbon radical; tri-acrylic polymers having the following formula [(CH2CR1COO)3—R4]n, where R1=H or CH3 and R4=a trivalent hydrocarbon radical and/or poly(alkylene carbonates) including co-polymeric alkylene carbonates, such as poly(ethylene-cyclohexene carbonate) and those having the following formulas:
By way of non-limiting example, the reversible binder 36 may include poly(methylmethacrylate) (PMMA), polystyrene (PS), poly(vinyl alcohol) (PVA); poly(alkylene carbonates), for example QPAC® 25, 40, 100, and 130 from Empower Materials, and polymers derived from hexanediol diacrylate (HDDA), trimethylolpropane triacrylate (TMPTA, for example, SR351 from Sartomer), and diethylene glycol diacrylate (DGD).
As discussed above with reference to
The one or more additives may improve the wettability of the material 18 to facilitate coating the particles of the metal powder 52 with the reversible binder 36. The one or more additives may also change (e.g., modify) the surface tension of the binder solution to facilitate jettability of the binder solution. For example, in certain embodiments, the binder solution is generally considered jettable if the Ohnesorge number (e.g., the ratio of viscous forces to inertial and surface tension forces) is between approximately 0.1 and approximately 1.
In certain embodiments, the one or more additives may also include a solvent that dissolves the reversible binder 36. The solvent may be aqueous or non-aqueous, depending on the selected reversible binder 36 and other additives that may be in the binder solution 34. The solvent is generally non-reactive (e.g., inert) such that it does not react with the metal powder 18, the reversible binder 36, or any other additives that may be in the binder solution 34. Additionally, the solvent should readily evaporate after selective deposition of the reversible binder 36 into the layer of metal powder 16 to facilitate bonding of the binder-coated particles 54 and the printed layers 56. Example solvents that may be used in the binder solution include, but are not limited to, water, methylene chloride (CH2Cl2), chloroform (CHCl3), toluene, xylenes, mesitylene, anisole, 2-methoxy ethanol, butanol, diethylene glycol, tetrahydrofuran (THF), methyl ethyl ketone (MEK), trichloroethylene (TCE), or any other suitable solvent.
The binder solution 34 may include the reversible binder 36, one or more monomers used to derive the reversible binder 36, or both. For example, in certain embodiments, the reversible binder 36 is polymerized before selective deposition into the layer of metal powder 16, according to the acts of block 24 of
In other embodiments, the reversible binder 36 is polymerized after depositing the binder solution 34 into the layer of metal powder 16. That is, the reversible binder 36 may be polymerized in situ. For such embodiments, the binder solution 34 may include one or more polymerizable monomers (e.g., reactive monomers) that react to form the reversible binder 36. In one embodiment, the binder solution 34 includes the one or more polymerizable monomers and a suitable solvent. In other embodiments, the binder solution 34 does not include a solvent. Rather, the binder solution 34 may be a neat liquid of the one or more polymerizable monomers. Once the binder solution 34 is deposited onto the layer 16, the one or more polymerizable monomers may be polymerized to form the reversible binder 36 in situ within the layer of metal powder 16 to form the printed layer 56 of the green body metal part. In certain embodiments, the binder solution 34 may include initiators such as, for example, azobis (isobutyronitrile) (AIBN), to facilitate in situ polymerization of the one or more polymerizable monomers in the layer of metal powder 16.
By way of non-limiting example, in certain embodiments, the binder solution 34 may include between approximately 0.5 weight percent (wt %) and approximately 30 wt % of the polymerized reversible binder 36 or the polymerizable monomers used to derive the reversible binder 36 in situ. In one embodiment, the binder solution 34 includes between approximately 3 wt % and approximately 7 wt % of the polymer or the polymerizable monomers. Additionally, the binder solution 34 may include suitable viscosity modifiers to enable a viscosity of the binder solution 34 that is between approximately 2 centipoise (cP) and approximately 200 cP. For example, depending on the viscosity of the mixture of the solvent and polymer/polymerizable monomer solution or the neat polymerizable monomer solution, the binder solution 34 may have between approximately 0.1 wt % and 15 wt % of a viscosity modifier, such that the viscosity of the binder solution is within the desired range for efficient and effective jettability.
Following deposition of the layer 16 and printing of the reversible binder 36, as set forth in blocks 12 and 24 of
In certain embodiments, the green body metal part may be cured to allow polymerization of the polymerizable monomers in the binder solution 34 to yield the reversible binder 36. For example, as discussed above, the reversible binder 36 may be polymerized in situ after printing the binder solution 34 into the layer of metal powder 16. Following deposition of the binder solution 34, the one or more polymerizable monomers in the binder solution 34 may be cured to polymerize the one or more monomers and form the printed layer 56 of the green body metal part. For example, the printed layer 56 may be exposed to heat, moisture, light, or any other suitable curing method that polymerizes the one or more polymerizable monomers in the binder solution 34 to form the reversible binder 36 in the printed layer 56 before the next layer of metal powder (block 12) is deposited on top of the printed layer 56. In certain embodiments, the binder solution 34 may include a radical initiator (e.g., AIBN) to facilitate polymerization of the one or more polymerizable monomers. In one embodiment, the one or more polymerizable monomers selectively deposited into the printed layer 56 may be cured immediately after forming the printed layer 56. That is, the method 10 may repeat the acts of blocks 12 and 24 of the method 10 after curing the one or more polymerizable monomers on each printed layer 56. In other embodiments, the one or more polymerizable monomers on the printed layer 56 may be cured after a desired number of printed layers 56 have been formed. Excess material 18 (e.g., the material 18 that is not bonded by the reversible binder 36) may be removed after curing to prepare the green body for post-printing processing. After curing, the green body may undergo a drying step to remove any solvent and/or other volatile materials that may remain in the green body metal part. For example, the green body may be dried in a vacuum, under an inert atmosphere (e.g., nitrogen (N2), argon (Ar)), or air.
As discussed above, the reversible binder used to form the green body metal part in binder jetting applications may be removed in a manner that mitigates both formation of char residue and metal oxide formation during post-printing processes. Accordingly, the method 10 includes removing (e.g., debinding) a portion of the reversible binder 36 from the green body metal part to generate a brown body metal part (block 62). As discussed above, the binders used in binder jetting applications provide strength (e.g., green strength) to the printed article. Therefore, as mentioned, it is presently recognized that it is desirable to remove only a portion (i.e., not all) of the reversible binder during debinding of the green body metal part to improve the handling strength of the resulting brown body metal part before sintering.
However, as mentioned, certain binders used in binder jet 3D printing may leave undesirable char residue during post-printing heat treatments, which may result in undesirable properties in the metal part. It is now recognized that by using the reversible binder 36, the printed article may have a desirable strength after partial removal of the reversible binder 36 during debinding, and may result in a consolidated article that is substantially free of char residue after sintering. In this way, certain properties of the consolidated metal part may be similar or identical to the properties of the metal powder 18 used to print the article.
During the partial removal of the reversible binder 36 during debinding, the green body metal part may be heated to break down the reversible binder 36 into oligomers that are smaller and have a lower molecular weight compared to the reversible binder 36, but that are still too large to volatilize under the debinding conditions. For example, the green body metal part may be heated to a temperature that is approximately 500° C. or less, such as between approximately 250° C. and approximately 450° C., during the debinding step of block 62. The conditions to which the green body metal part is exposed during debinding decomposes the reversible binder 36 into the oligomers and generates the brown body metal part having a substantial portion (e.g., approximately 95%, approximately 96%, approximately 97%, approximately 98%) of the reversible binder 36 removed. The oligomers that remain in the brown body metal part after debinding may continue to bond the printed layers in the brown body metal part and provide a brown strength that maintains the structure of the brown body metal part during handling.
In certain embodiments, between approximately 98% and approximately 99.95% of the reversible binder 36 may be removed during debinding by partial decomposition of the reversible binder 36. Many of the small molecules that form during the partial decomposition of the reversible binder may be gaseous at room temperature or at the debinding temperature. The portion of the oligomers that remain in the brown body metal part after debinding continue to bond the layers of metal powder of the brown body metal part and enable a suitable amount of brown strength. In one embodiment, the portion of the oligomers that remain in the brown body is between approximately 0.05% and approximately 2%. In other embodiments, the portion of the oligomers that remain in the brown body is between approximately 0.1% and approximately 1%.
In certain embodiments, debinding of the reversible binder 36 may include heating the green body metal part to a desired temperature (e.g., between approximately 250° C. and approximately 450° C.) in an oxygen-free environment (e.g., in a vacuum chamber). It is presently recognized that debinding the reversible binder 36 in an oxygen-free environment may mitigate oxidation of certain metal powders 18. For example, debinding may be performed under nitrogen (N2), argon (Ar), or another substantially inert gas. However, in certain embodiments, the debinding may be performed in air. In embodiments where the debinding occurs in air, it may be desirable to maintain the debinding temperature below 450° C. to mitigate oxidation of the metal powder 18.
Following debinding of the reversible binder 26, as set forth in block 62, the method 10 of
Finally, the method 10 illustrated in
As discussed above, the char may affect certain characteristics of the consolidated article (e.g., microstructure and/or mechanical properties) which may affect the performance of the consolidated metal part when used in machinery. However, it is now recognized that, by using the reversible binder 36 and the post-processing steps disclosed herein, the consolidated metal part may be substantially free of char residue. Therefore, the properties of the consolidated metal part may be similar to the properties of the metal powder 18, and may be comparable to properties of metal parts manufactured via molding techniques. The consolidated metal part manufactured via binder jet 3D printing using the reversible binder 36 disclosed herein may have a carbon content and an oxygen content that is equal to or less than a carbon content and oxygen content of the metal powder 18 used to print the metal part.
State of the art chemical binders used for 3-D binder jet metal printing generally produce metal articles having char residues that yield carbon (C) and oxygen (O) (e.g., metal oxides or oxygen-containing binder decomposition products) content that is greater than the C and O levels of the metal powder used to print the metal part. While certain post-printing processes may decrease the C content of the metal part to levels comparable to or below that of the metal powder, these processes generally increase the Ocontent to levels above that of the metal powder. Similarly, the C content of the metal part may be above desirable levels when O2 levels in the debinding atmosphere are below a desired range. For example, when an amount of O2 in the atmosphere is not sufficient to decompose the state of the art binders. However, the reversible binders disclosed herein, surprisingly and unexpectedly, result in C and O content that is less than the C and O content of the metal powder under suitable post-printing processing conditions.
Tables 1 and 2 show the carbon (C) and oxygen (O) content of consolidated metal parts manufactured using the reversible binder 36. For example, as shown in Tables 1 and 2, consolidated metal parts fabricated with certain reversible binders have a C and O content that is substantially less than the C and O content of the metal powder 18. For example, as shown in Table 1, consolidated metal parts made using Inconel 625 as the metal powder 18 and 5 wt % polymethylmethacrylate (PMMA) in 2-methoxyethanol or polystyrene in toluene as the binder solution 34 yield a consolidated metal part having a C and O content that is less than the C and O content of the Inconel 625 metal powder. Similarly, consolidated metal parts formed using Rene'108 as the metal powder 18 and 5 wt % PMMA in 2-methoxy ethanol or 7 wt % PMMA in 2-methoxyethanol with and without polypropoxy diethyl methylammonium chloride (e.g, VARIQUAT CC-42NS) as the binder solution 34 also yield a C and O content that is less than the C and O content of the Rene'108 metal powder. The data represented in Tables 1 and 2 was obtained via combustion analysis of binder jet 3D printed metal part samples using a LECO CS 844 Carbon/Sulfur Analyzer for carbon quantification and LECO ONH 836 Oxygen/Nitrogen/Hydrogen Analyzer for oxygen quantification.
As discussed above, the reversible binders disclosed herein may be used in binder jetting additive manufacturing to print an article that may be used in machinery. The reversible binders may include thermoplastic or thermoset polymers that when heated above a decomposition temperature, the polymers form decomposition products (e.g., oligomers) that are relatively stable at a lower debinding temperature, and are readily removed from the metal part at higher (e.g., pre-sintering, sintering) temperatures. The decomposition products may include oligomers that remain in the article after debinding and improve the strength of the brown body metal part. In this way, the integrity of the brown body metal part may be maintained until the article is sintered. Additionally, the oligomers are readily and cleanly decomposed in a pre-sintering step without charring. In this way, the consolidated metal part may be substantially free of char residue, which may deleteriously affect the material properties of the consolidated metal part.
This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.