The present subject matter relates generally to washing machine appliances, and more particularly to systems and methods for controlling washing machine appliances.
Washing machine appliances generally include a tub for containing wash liquid, e.g., water, detergent, and/or bleach, during operation of such washing machine appliances. A wash basket is rotatably mounted within the wash tub and defines a wash chamber for receipt of articles for washing, and an agitation element is rotatably mounted within the wash basket. Washing machine appliances are typically equipped to operate in one or more modes or cycles, such as wash, rinse, and spin cycles. For example, during a wash or rinse cycle, the wash fluid is directed into the wash tub in order to wash and/or rinse articles within the wash chamber. In addition, the wash basket and/or the agitation element can rotate at various speeds and/or through various lengths of travel to agitate or impart motion to articles within the wash chamber, to wring wash fluid from articles within the wash chamber, etc.
Many operating parameters of the washing machine appliance may be user-selectable, such as a fill volume or rinse volume or stroke length of the agitation element. The practical effect of selecting such parameters may be difficult for a user to envision. For example, the depth of fill within the wash basket provided by a selected fill volume of water may not be readily apparent or easily perceived by the user.
Accordingly, a washing machine appliance including control features for providing an improved, e.g., more intuitive, user interface would be useful.
Aspects and advantages of the invention will be set forth in part in the following description, or may be apparent from the description, or may be learned through practice of the invention.
In one exemplary embodiment, a method of operating a washing machine appliance at a remote user interface device in wireless communication with the washing machine appliance is provided. The washing machine appliance includes a cabinet, a wash tub mounted within the cabinet and configured for containing fluid during operation of the washing machine appliance, and a wash basket rotatably mounted within the wash tub. The wash basket defines a wash chamber configured for receiving laundry articles. The washing machine appliance also includes an opening defined in the cabinet. The wash basket is aligned with the opening such that the wash basket is visible and accessible through the opening. The method includes obtaining a live image of the wash basket, generating an overlay representing one or more operating parameters of the washing machine appliance, and synthesizing, in real time, the overlay and the live image. The method also includes displaying the synthesized overlay and live image on a display of the remote user interface device and receiving a control input at the remote user interface device. The method further includes directing the washing machine appliance based on the control input received at the remote user interface device.
In another exemplary embodiment, method of operating a washing machine appliance at a remote user interface device in wireless communication with the washing machine appliance is provided. The washing machine appliance includes wash basket that defines a wash chamber configured for receiving laundry articles. The method includes obtaining an image of the wash basket, generating an overlay representing one or more operating parameters of the washing machine appliance, and displaying the image and the overlay simultaneously on a display of the remote user interface device. The method also includes receiving a control input at the remote user interface device and directing the washing machine appliance based on the control input received at the remote user interface device.
These and other features, aspects and advantages of the present invention will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.
A full and enabling disclosure of the present invention, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures.
Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present invention.
Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents.
As used herein, the terms “first,” “second,” and “third” may be used interchangeably to distinguish one component from another and are not intended to signify location or importance of the individual components. The terms “includes” and “including” are intended to be inclusive in a manner similar to the term “comprising.” Similarly, the term “or” is generally intended to be inclusive (i.e., “A or B” is intended to mean “A or B or both”). In addition, here and throughout the specification and claims, range limitations may be combined and/or interchanged. Such ranges are identified and include all the sub-ranges contained therein unless context or language indicates otherwise. For example, all ranges disclosed herein are inclusive of the endpoints, and the endpoints are independently combinable with each other. The singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise.
Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as “generally,” “about,” “approximately,” and “substantially,” are not to be limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value, or the precision of the methods or machines for constructing or manufacturing the components and/or systems. For example, the approximating language may refer to being within a 10 percent margin, i.e., including values within ten percent greater or less than the stated value. In this regard, for example, when used in the context of an angle or direction, such terms include within ten degrees greater or less than the stated angle or direction, e.g., “generally vertical” includes forming an angle of up to ten degrees in any direction, e.g., clockwise or counterclockwise, with the vertical direction V.
The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” In addition, references to “an embodiment” or “one embodiment” does not necessarily refer to the same embodiment, although it may. Any implementation described herein as “exemplary” or “an embodiment” is not necessarily to be construed as preferred or advantageous over other implementations. Moreover, each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents.
As used herein, the terms “clothing,” “articles,” and the like may include but need not be limited to fabrics, textiles, garments, linens, papers, or other items which may be cleaned, dried, and/or otherwise treated in a laundry appliance. Furthermore, the terms “load” or “laundry load” refers to the combination of clothing that may be washed together in a washing machine or dried together in a dryer appliance and may include a mixture of different or similar articles of clothing of different or similar types and kinds of fabrics, textiles, garments and linens within a particular laundering process.
An inlet or spout 72 is configured for directing a flow of fluid into wash tub 64. The spout 72 may be a part of a fluid circulation system of the washing machine appliance, such as an inlet of the fluid circulation system. In particular, inlet 72 may be positioned at or adjacent top portion 80 of wash basket 70. Inlet 72 may be in fluid communication with a water supply (not shown) in order to direct fluid (e.g., clean water) into wash tub 64 and/or onto articles within wash chamber 73 of wash basket 70. A valve 74 regulates the flow of fluid through inlet 72. For example, valve 74 can selectively adjust to a closed position in order to terminate or obstruct the flow of fluid through inlet 72. In some embodiments, the inlet 72 may be or include a drawer, such as a detergent drawer or additive drawer, through which water flows before flowing into the wash tub 64 and/or wash chamber 73. For example, in embodiments which include the drawer, the water may mix with an additive in the drawer, thereby creating a wash liquid comprising the water and the additive dissolved therein or intermixed therewith, and the wash liquid may then flow into the wash chamber 73 via the inlet 72 (which may be at least partially defined by, e.g., a wall or other portion of the drawer in such embodiments) after a certain liquid volume or level within the drawer has been reached.
A pump assembly 90 (shown schematically in
An agitation element 92, shown as an impeller in
Operation of washing machine appliance 50 is controlled by a processing device or controller 100, that is operatively coupled to the user interface input located on washing machine backsplash 56 for user manipulation to select washing machine cycles and features. In response to user manipulation of the user interface input, controller 100 operates the various components of washing machine appliance 50 to execute selected machine cycles and features.
Controller 100 may include a memory and microprocessor, such as a general or special purpose microprocessor operable to execute programming instructions or micro-control code associated with a cleaning cycle. The memory may represent random access memory such as DRAM, or read only memory such as ROM or FLASH. In one embodiment, the processor executes programming instructions stored in memory. The memory may be a separate component from the processor or may be included onboard within the processor. Alternatively, controller 100 may be constructed without using a microprocessor, e.g., using a combination of discrete analog and/or digital logic circuitry (such as switches, amplifiers, integrators, comparators, flip-flops, AND gates, and the like) to perform control functionality instead of relying upon software. Control panel 58 and other components of washing machine appliance 50 may be in communication with controller 100 via one or more signal lines or shared communication busses. It should be noted that controllers 100 as disclosed herein are capable of and may be operable to perform any methods and associated method steps as disclosed herein.
In an illustrative embodiment, laundry items are loaded into wash chamber 73 of wash basket 70, and washing operation is initiated through operator manipulation of control input selectors 60 or, as will be described further below, operator manipulation of a remote user interface device as well as or instead of the control input selectors 60. Wash tub 64 is filled with water and mixed with detergent to form a wash liquid. Valve 74 can be opened to initiate a flow of water into wash tub 64 via inlet 72, and wash tub 64 can be filled to the appropriate level for the amount of articles being washed. Once wash tub 64 is properly filled with wash fluid, the contents of the wash basket 70 are agitated with agitation element 92 for cleaning of laundry items in wash basket 70. More specifically, agitation element 92 may be moved back and forth in an oscillatory motion. The wash fluid may be recirculated through the washing machine appliance 50 at various points in the wash cycle, such as before or during the agitation phase (as well as one or more other portions of the wash cycle, separately or in addition to before and/or during the agitation phase).
After the agitation phase of the wash cycle is completed, wash tub 64 is drained. Laundry articles can then be rinsed by again adding fluid to wash tub 64, depending on the particulars of the cleaning cycle selected by a user, agitation element 92 may again provide agitation within wash basket 70. One or more spin cycles may also be used. In particular, a spin cycle may be applied after the wash cycle and/or after the rinse cycle in order to wring wash fluid from the articles being washed. During a spin cycle, wash basket 70 is rotated at relatively high speeds. In various embodiments, the pump 90 may be activated to drain liquid from the washing machine appliance 50 during the entire drain phase (or the entirety of each drain phase, e.g., between the wash and rinse and/or between the rinse and the spin) and may be activated during one or more portions of the spin cycle.
While described in the context of a specific embodiment of washing machine appliance 50, using the teachings disclosed herein it will be understood that washing machine appliance 50 is provided by way of example only. Other washing machine appliances having different configurations (such as horizontal-axis washing machine appliances), different appearances, and/or different features may also be utilized with the present subject matter as well.
Referring now to
It should be appreciated that camera 200 may include any suitable number, type, size, and configuration of camera(s) 200 for obtaining images of wash chamber 73. In general, camera 200 may include a lens that is constructed from a clear hydrophobic material or which may otherwise be positioned behind a hydrophobic clear lens. So positioned, camera 200 may obtain one or more images or videos of wash chamber 73. In some embodiments, washing machine appliance 50 may further include a tub light (not shown) that is positioned within cabinet 52 or wash chamber 73 for selectively illuminating wash chamber 73 and/or contents therein.
Notably, controller 100 of washing machine appliance 50 (or any other suitable dedicated controller) may be communicatively coupled to camera 200 and other components of washing machine appliance 50. As explained in more detail below, controller 100 may be programmed or configured for obtaining images using camera 200 or obtaining images, e.g., wirelessly receiving images, from an external camera device such as a remote user interface device. The controller may obtain the images, e.g., in order to detect certain operating conditions and improve the performance of washing machine appliance 50. In addition, controller 100 of washing machine appliance 50 (or any other suitable dedicated controller) may be programmed or configured for analyzing or otherwise processing the images obtained by camera 200 (or other external camera, or combinations of multiple cameras), as described in more detail below. In general, controller 100 may be operably coupled to camera 200 (camera 200 is referred to herein throughout by way of example only, and it should be understood that an external camera may be used as well as or instead of camera 200 in each instance) for analyzing one or more images obtained by camera 200 to extract useful information regarding objects within the field of view of the one or more cameras 200. Notably, this analysis may be performed locally (e.g., on controller 100) or may be transmitted to a remote server (e.g., in the “cloud,” as those of ordinary skill in the art will recognize as referring to a remote server or database in a distributed computing environment including at least one remote computing device) for analysis.
It should be appreciated that according to alternative embodiments, camera 200 may include any suitable number, type, size, and configuration of camera(s) 200, including external cameras, such as handheld camera devices, such as a remote user interface device, e.g., smartphone or tablet computer, etc., for obtaining images of any suitable areas or regions within or around washing machine appliance 50. In addition, it should be appreciated that each camera 200 may include features for adjusting the field of view and/or orientation. It should be appreciated that the images obtained by camera 200 may vary in number, frequency, angle, resolution, detail, etc., in order to improve the clarity of the particular regions surrounding or within washing machine appliance 50.
As is understood by those of ordinary skill in the art, the washing machine appliance 50, e.g., the controller 100 thereof, may communicate with one or more remote devices, such as remote computing devices and/or remote user interface devices. For example, the washing machine appliance 50 may communicate wirelessly with a remote user interface device, such as the exemplary remote user interface device 1000 in
The washing machine appliance 50 may be in communication with the remote user interface device 1000 device through various possible communication connections and interfaces. The washing machine appliance 50 and the remote user interface device 1000 may be matched in wireless communication, e.g., connected to the same wireless network. The washing machine appliance 50 may communicate with the remote user interface device 1000 via short-range radio such as BLUETOOTH® or any other suitable wireless network having a layer protocol architecture. As used herein, “short-range” may include ranges less than about ten meters and up to about one hundred meters. For example, the wireless network may be adapted for short-wavelength ultra-high frequency (UHF) communications in a band between 2.4 GHz and 2.485 GHz (e.g., according to the IEEE 802.15.1 standard). In particular, BLUETOOTH® Low Energy, e.g., BLUETOOTH® Version 4.0 or higher, may advantageously provide short-range wireless communication between the washing machine appliance 50 and the remote user interface device 1000. For example, BLUETOOTH® Low Energy may advantageously minimize the power consumed by the exemplary methods and devices described herein due to the low power networking protocol of BLUETOOTH® Low Energy.
The remote user interface device 1000 is “remote” at least in that it is spaced apart from and not physically connected to the washing machine appliance 50, e.g., the remote user interface device 1000 is a separate, stand-alone device from the washing machine appliance 50 which communicates with the washing machine appliance 50 wirelessly. Any suitable device separate from the washing machine appliance 50 that is configured to provide and/or receive communications, information, data, or commands from a user may serve as the remote user interface device 1000, such as a smartphone (e.g., as illustrated in
The remote user interface device 1000 may include a memory for storing and retrieving programming instructions. Thus, the remote user interface device 1000 may provide a remote user interface which may be an additional user interface to the user interface panel 58. For example, the remote user interface device 1000 may be a smartphone operable to store and run applications, also known as “apps,” and the additional user interface may be provided as a smartphone app.
As mentioned above, the washing machine appliance 50 may also be configured to communicate wirelessly with one or more additional remote devices, e.g., in or via a network, as well as or instead of the remote user interface device 1000. The network may be, e.g., a cloud-based data storage system including one or more remote computing devices such as remote databases and/or remote servers, which may be collectively referred to as “the cloud.” For example, the washing machine appliance 50 may communicate with the cloud over the Internet, which the washing machine appliance 50 may access via WI-FI®, such as from a WI-FI® access point in a user's home.
Various examples of images which may be captured or obtained by the camera 200 and/or the camera of the remote user interface device 1000 are illustrated in
The image or images obtained by or with the camera, e.g., such as the example images illustrated in
As used herein, the term “image processing algorithm” and the like is generally intended to refer to any suitable methods or algorithms for analyzing images of wash chamber 73 that do not rely on artificial intelligence or machine learning techniques (e.g., in contrast to the machine learning image recognition process as described below). For example, the image processing algorithm may rely on image differentiation, e.g., such as a pixel-by-pixel comparison of two sequential images. Image differentiation may be used to, for example, determine if a position, location, or geometric property, e.g., shape, area, or dimension, etc., of a component changes, such as crosses a threshold, e.g., a minimum or maximum.
Additional embodiments may also include using a machine learning image recognition process instead of or in addition to an image processing algorithm. In this regard, the images obtained by the camera may be analyzed by controller 100. In addition, it should be appreciated that this image analysis or processing may be performed locally (e.g., by controller 100) or remotely, such as by using distributed computing, a digital cloud, or a remote server. According to exemplary embodiments of the present subject matter, the images obtained with the camera may be analyzed using a neural network classification module and/or a machine learning image recognition process. In this regard, for example, controller 100 may be programmed to implement the machine learning image recognition process that includes a neural network trained with a plurality of images of the wash chamber 73.
As used herein, the terms image recognition process and similar terms may be used generally to refer to any suitable method of observation, analysis, image decomposition, feature extraction, image classification, etc. of one or more images or videos taken within a wash chamber of a washing machine appliance. In this regard, the image recognition process may use any suitable artificial intelligence (AI) technique, for example, any suitable machine learning technique, or for example, any suitable deep learning technique. It should be appreciated that any suitable image recognition software or process may be used to analyze images taken by the camera, and that controller 100 may be programmed to perform such processes and take corrective action.
According to an exemplary embodiment, controller may implement a form of image recognition called region-based convolutional neural network (“R-CNN”) image recognition. Generally speaking, R-CNN may include taking an input image and extracting region proposals that include a potential object, such as a particular garment, region of a load of clothes, or the size or position of the agitation element. In this regard, a “region proposal” may be regions in an image that could belong to a particular object, such as a load of articles in the wash basket. A convolutional neural network is then used to compute features from the regions proposals and the extracted features will then be used to determine a classification for each particular region.
According to still other embodiments, an image segmentation process may be used along with the R-CNN image recognition. In general, image segmentation creates a pixel-based mask for each object in an image and provides a more detailed or granular understanding of the various objects within a given image. In this regard, instead of processing an entire image—i.e., a large collection of pixels, many of which might not contain useful information—image segmentation may involve dividing an image into segments (e.g., into groups of pixels containing similar attributes) that may be analyzed independently or in parallel to obtain a more detailed representation of the object or objects in an image. This may be referred to herein as “mask R-CNN” and the like.
According to still other embodiments, the image recognition process may use any other suitable neural network process. For example, the image recognition process may include using Mask R-CNN instead of a regular R-CNN architecture. In this regard, Mask R-CNN is based on Fast R-CNN which is slightly different than R-CNN. In addition, a K-means algorithm may be used. Other image recognition processes are possible and within the scope of the present subject matter.
It should be appreciated that any other suitable image recognition process may be used while remaining within the scope of the present subject matter. For example, the image or images from the camera 200 (and/or other cameras such as the camera of a remote user interface device, as noted above) may be analyzed using a deep belief network (“DBN”) image recognition process. A DBN image recognition process may generally include stacking many individual unsupervised networks that use each network's hidden layer as the input for the next layer. According to still other embodiments, the image or images may be analyzed by the implementation of a deep neural network (“DNN”) image recognition process, which generally includes the use of a neural network (computing systems inspired by biological neural networks) with multiple layers between input and output. Other suitable image recognition processes, neural network processes, artificial intelligence (“AI”) analysis techniques, and combinations of the above described or other known methods may be used while remaining within the scope of the present subject matter.
An overlay may be developed from such analysis, whereby the overlay may correspond to projected positions or alignments of components or contents within the wash chamber based on possible parameter selections. For example, the image analysis may include recognizing, determining, and/or estimating the volume of the wash chamber from the image. As another example, the image analysis may include recognizing, determining, and/or estimating the size, position, type, and/or configuration of the agitation element. In additional exemplary embodiments, one or more other components or aspects of the washing machine appliance may be recognized or otherwise analyzed from the obtained image as well as or instead of the wash chamber volume and/or agitation element.
Turning now to
Referring now to
Referring now to
As illustrated in
Still referring to
The range of possible agitation stroke lengths may be represented by a minimum end position indicator 1022 and a maximum end position indicator 1020. The low agitation zone 1023 may begin at the minimum end position 1022 and extend to a first boundary 1024. The first boundary 1024 may separate and partially define the low agitation zone 1023 and the medium agitation zone 1025. The medium agitation zone 1025 may begin at the first boundary 1024 and end at a second boundary 1026. The second boundary 1026 may separate and partially define the medium agitation zone 1025 and the high agitation zone 1027. The high agitation zone 1027 may begin at the second boundary 1026 and end at the maximum end position indicator 1020. For example, the end position indicator 1018 as illustrated in
As illustrated at step 710 in
Obtaining the image of the wash basket may include obtaining one or more images. The camera may define a field of vision, and may be positioned and oriented such that the wash basket 70 and/or wash chamber 73 is or are at least partially within the field of vision of the camera. For example, the camera may be used to obtain an image or a series of images within the wash chamber 73. Thus, step 710 includes obtaining one image, a series of images/frames, or a video of wash chamber 73. Step 710 may further include taking a still image from the video clip or otherwise obtaining a still representation or photo from the video clip. It should be appreciated that the images obtained by the camera may vary in number, frequency, angle, resolution, detail, etc. In addition, according to exemplary embodiments, controller 100 may be configured for illuminating the wash basket and wash chamber using a light just prior to or while obtaining the image or images. In this manner, by ensuring wash chamber 73 is illuminated, a clear image of wash chamber 73 may be obtained.
In some embodiments, method 700 may include a step 720 of generating an overlay representing one or more operating parameters of the washing machine appliance. The overlay may be generated based on static data, e.g., based on manufacturing details of the washing machine appliance, such as an agitation element type or size or a wash basket size, etc. The overlay may also or instead be generated based on a recorded image of the washing machine appliance or of another washing machine appliance of the same or similar model. In additional embodiments, the method 700 may also include performing image analysis of the obtained live image and generating the overlay based on the image analysis, such as determining a volume of the wash basket via image analysis of the obtained live image and generating the overlay based in part on the determined volume of the wash basket. Further, in some embodiments method 700 may include estimating a volume of a load of articles in the wash basket based on the obtained live image of the wash basket, e.g., by performing image analysis of the obtained live image to estimate or determine the size of the load of articles.
Method 700 may further include a step 730 of synthesizing the overlay and the live image in some embodiments. Such synthesis may include combining and/or superimposing the overlay with or on the live image and may be performed in real time. For example, such real time analysis or synthesis may include, in some embodiments, updating the overlay in response to the control input received at the remote user interface device. The synthesized overlay and live image may, in some embodiments, be displayed on a display of the remote user interface device, e.g., as indicated at step 740 in
In some embodiments, method 700 may also include displaying instructions on the display of the remote user interface device along with the synthesized overlay and live image, such as instructions for selecting a fill volume (see, e.g.,
In some embodiments, method 700 may further include receiving a control input at the remote user interface device. For example, in embodiments where the remote user interface includes a touchscreen display, such as when the remote user interface device is a smartphone or tablet computer, receiving the control input may include detecting a touch from a user on the touchscreen, which may include, for example, a tap, swipe, or pinch, or other similar touch input or gesture on the touchscreen. As one example, such input may include tapping or dragging a fill bar, such as fill bar 1008 (
Still referring to
In some exemplary embodiments, the overlay may represent a fill volume of wash liquid in the wash tub. In such embodiments, directing the washing machine appliance based on the control input received at the remote user interface device may include opening a fill valve of the washing machine appliance, such as for a fill time based on the control input.
In some exemplary embodiments, the overlay may represent a stroke length of an agitation element of the washing machine appliance. In such embodiments, directing the washing machine appliance based on the control input received at the remote user interface device may include rotating the agitation element through an arc within the wash basket, such as along an arc length based on a starting position and/or an ending position selected via the remote user interface device and/or based on a selected agitation zone selected via the remote user interface device.
Turning now to
As illustrated in
In some embodiments, method 800 may also include a step 820 of generating an overlay representing one or more operating parameters of the washing machine appliance. The overlay may be generated based on static data, e.g., based on manufacturing details of the washing machine appliance, such as an agitation element type or size or a wash basket size, etc. The overlay may also or instead be generated based on a recorded image of the washing machine appliance or of another washing machine appliance of the same or similar model.
Method 800 may, in some embodiments, further include displaying the image and the overlay simultaneously on a display of the remote user interface device, e.g., as indicated at 830 in
As illustrated in
In various embodiments, method 800 may also include one or more of the exemplary steps described above with respect to method 700. For example, the overlay in method 800 may represent a fill volume or stroke length of an agitation element, and directing the washing machine appliance may include opening a fill valve of the washing machine appliance or rotating the agitation element through an arc within the wash basket, e.g., as described above with reference to method 700. As another example, method 800 may also include obtaining the image of the wash basket by a camera of the remote user interface device or by a camera mounted in the washing machine appliance. By way of further example, method 800 may include estimating a volume of a load of articles in the wash basket based on the obtained image of the wash basket.
Referring now generally to
Furthermore, the skilled artisan will recognize the interchangeability of various features from different embodiments. Similarly, the various method steps and features described, as well as other known equivalents for each such methods and feature, can be mixed and matched by one of ordinary skill in this art to construct additional systems and techniques in accordance with principles of this disclosure. Of course, it is to be understood that not necessarily all such objects or advantages described above may be achieved in accordance with any particular embodiment. Thus, for example, those skilled in the art will recognize that the systems and techniques described herein may be embodied or carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other objects or advantages as may be taught or suggested herein.
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 include 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.
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