SYSTEMS AND METHODS FOR MEASURING MINE TUNNEL ENVIRONMENTAL INFORMATION

Abstract

The present invention discloses systems and methods of measuring environmental information in a mine tunnel. The system may comprise an ultrasonic anemometer, a multi-parameter monitor, a data acquisition module, a central control platform, a data communication module, a flexible manipulator, a power conversion module, a display and alarm module, and a computer. The multi-parameter monitor may comprise at least one of an infrared detector, a CH.sub.4 detector, a CO gas sensor, an O.sub.2 gas sensor, a CO.sub.2 gas sensor, and a temperature and humidity sensor. The system may also measure the airflow in large sections of a mine tunnel through the flexible manipulator. The method may be able to remote measure the underground environment and airflow during normal production of the mine, which helps improve the abilities of mine disaster response and relief while ensuring the safety of emergency rescue personnel.

Claims

1. A measurement system for mine tunnel environmental information, comprising: a computer; a data communication module configured to communicate data via a transmission mode selected from the group consisting of a wired transmission mode, a wireless transmission mode, and combinations thereof; a central control platform communicatively coupled, via a transmission selected from the group consisting of wired transmission, wireless transmission, and combinations thereof, to the computer; a data acquisition module communicatively coupled, via wired transmission, to the central control platform; a multi-parameter monitor communicatively coupled, via wired transmission, to the data acquisition module; at least one flexible manipulator having a fixed end and a free end opposite the fixed end, the fixed end coupled to a spud pile of an underground air measurement chamber, the at least one flexible manipulator communicatively coupled, via wired transmission, to the central control platform; an ultrasonic anemometer coupled to the free end of each at least one flexible manipulator, the ultrasonic anemometer communicatively coupled, via wired transmission, to the data acquisition module; a display and alarm module communicatively coupled, via wired transmission, to the central control platform; and a power conversion module configured to supply power to the ultrasonic anemometer, the multi-parameter monitor, the central control platform, each at least one flexible manipulator, and the display and alarm module.

2. The measurement system of claim 1, wherein the multi-parameter monitor comprises a component selected from the group consisting of an infrared detector, a CHI gas sensor, a CO gas sensor, an O.sub.2 gas sensor, a CO.sub.2 gas sensor, a temperature sensor, a humidity sensor, and combinations thereof.

3. The measurement system of claim 2, wherein a component selected from the group consisting of a CH.sub.4 gas sensor, a CO gas sensor, an O.sub.2 gas sensor, a CO.sub.2 gas sensor, a temperature sensor, a humidity sensor, and combinations thereof is coupled to an explosion-proof enclosure inside of the explosion-proof enclosure, wherein the infrared detector is coupled to the explosion-proof enclosure outside of the explosion-proof enclosure, and wherein the explosion-proof enclosure is suspended from and fixedly coupled to a roof of an air inlet end of a tunnel.

4. The measurement system of claim 1, wherein a component selected from the group consisting of the central control platform, the data acquisition module, the power conversion module, the display and alarm module, and combinations thereof is coupled to an explosion-proof enclosure inside of the explosion-proof enclosure, and wherein the explosion-proof enclosure is coupled to a bottom of a tunnel.

5. The measurement system of claim 4, wherein the explosion-proof enclosure is at least 50 meters away from each at least one flexible manipulator.

6. The measurement system of claim 1, each at least one flexible manipulator comprising: a multi-axis manipulator, further comprising: at least one manipulator; a rubber pressure air hose coupled to the end of each manipulator; three micro pneumatic cylinders coupled to the end of each manipulator via the rubber pressure air hose; and a plurality of solenoid valves coupled to the spud pile inside of the spud pile, the plurality of solenoid valves configured to control the at least one flexible manipulator by controlling the micro pneumatic cylinder via regulating air pressure in the rubber pressure air hose.

7. The measurement system of claim 6, wherein each manipulator is flexibly coupled through a spherical hinge.

8. The measurement system of claim 6, wherein the multi-axis manipulator is configured to have a cross-sectional profile to facilitate a reduction in interference on an air volume of a tunnel section.

9. A method of measuring environmental information of a mine tunnel, comprising: using a measurement system including: a computer; a data communication module configured to communicate data via a transmission mode selected from the group consisting of a wired transmission mode, a wireless transmission mode, and combinations thereof; a central control platform communicatively coupled, via a transmission selected from the group consisting of wired transmission, wireless transmission, and combinations thereof, to the computer; a data acquisition module communicatively coupled, via wired transmission, to the central control platform; a multi-parameter monitor communicatively coupled, via wired transmission, to the data acquisition module; at least one flexible manipulator having a fixed end and a free end opposite the fixed end, the fixed end coupled to a spud pile of an underground air measurement chamber, the at least one flexible manipulator communicatively coupled, via wired transmission, to the central control platform; an ultrasonic anemometer coupled to the free end of each at least one flexible manipulator, the ultrasonic anemometer communicatively coupled, via wired transmission, to the data acquisition module; a display and alarm module communicatively coupled, via wired transmission, to the central control platform; and a power conversion module configured to supply power to the ultrasonic anemometer, the multi-parameter monitor, the central control platform, each at least one flexible manipulator, and the display and alarm module; testing environmental parameters via the multi-parameter monitor; and adjusting, via the multi-parameter monitor, the environmental parameters.

10. The method of claim 9, further comprising controlling, via the central control platform, a working time and an opening size of solenoid valves connecting each at least one flexible manipulator.

11. The method of claim 10, further comprising: scanning, via an infrared detector, the tunnel; and notifying an operator of a scanned object via the display and alarm module.

12. The method of claim 10, further comprising: measuring, via the ultrasonic anemometer, an air volume in the tunnel; and obtaining, via the ultrasonic anemometer, an uncorrected air volume of a section in the tunnel.

13. The method of claim 12, further comprising calibrating the air volume for storage.

14. The method of claim 13, further comprising: calculating a calibrated air volume; comparing the calibrated air volume to a reliable threshold value; and determining if the calibrated air volume is within the reliable threshold value.

15. The method of claim 14, wherein if the calibrated air volume is outside of the reliable threshold value, the method further comprises: remeasuring, via the ultrasonic anemometer, the air volume in the tunnel; and obtaining, via the ultrasonic anemometer, an additional uncorrected air volume of a section in the tunnel.

16. The method of claim 14, wherein if the calibrated air volume is within the reliable threshold value, the method further comprises transmitting data about the air volume to the computer through a connection selected from the group consisting of a cable, a 5G network, and combinations thereof.

17. e method of claim 10, further comprising: establishing a rectangular coordinate system, the rectangular coordinate system configured such that a lower left corner of a windward end of the mine tunnel is an origin, a width of the mine tunnel is an x-axis, and a height of the mine tunnel is a y-axis; and dividing the mine tunnel, according to the width and height, into even and isometrical segments in both a direction of the width and a direction of the height.

18. The method of claim 17, further comprising: determining, based on the division of the mine tunnel, an air measurement route of the ultrasonic anemometer; setting the central control platform according to a piece-wise function equation of a movement of the ultrasonic anemometer; and controlling, via the central control platform, each at least one flexible manipulator.

19. The method of claim 9, further comprising: testing, via the multi-parameter monitor, environmental parameters; determining if the environmental parameters exceed a threshold of the mine tunnel; and monitoring, for at least 24 hours, the environmental parameters.

20. The method of claim 19, wherein if the environmental parameters exceed the threshold of the mine tunnel, the method further comprises: sending a notification to the display and alarm module; and adjusting the environmental parameters simultaneously with sending the notification.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Features, aspects, and advantages are described below with reference to the drawings, which are intended to illustrate, hut not to limit, the invention. In the drawings, like reference characters denote corresponding features consistently throughout similar examples.

[0021] FIG. 1 illustrates a diagrammatic view of a mine tunnel environmental information measurement system, according to some examples.

[0022] FIG. 2 illustrates a profile view of a mine tunnel environmental information measurement system, according to some examples.

[0023] FIG. 3 illustrates a top view of the measurement system for mine tunnel environmental information of FIG. 2, according to some examples.

[0024] FIG. 4 illustrates a diagrammatic view of a flexible manipulator, according to some examples.

[0025] FIG. 5 illustrates a diagrammatic view of a multi-axis flexible manipulator and its connections, according to some examples.

[0026] FIG. 6 illustrates a cross-sectional view of a flexible manipulator, according to some examples.

[0027] FIG. 7 illustrates a flowchart depicting a method of measuring mine tunnel environmental information, according to some examples.

[0028] FIG. 8 illustrates a diagrammatic graph displaying a longitudinal air measurement ou planning diagram of an ultrasonic anemometer, according to sonic examples.

[0029] FIG. 9 illustrates a diagrammatic graph displaying a transverse air measurement route planning diagram of an ultrasonic anemometer, according to some examples.

[0030] FIG. 10 illustrates a flowchart depicting a method of measuring mine tunnel environmental information, according to some examples.

[0031] FIG. 11 illustrates a flowchart depicting a method of obtaining information about an air volume in a tunnel, according to some examples.

[0032] FIG. 12 illustrates a flow chart depicting a method of obtaining information about calibrated air volumes, according to some examples.

[0033] FIG. 13 illustrates a flowchart depicting a method of controlling flexible manipulators, according to some examples.

[0034] FIG. 14 illustrates a flowchart depicting a method of adjusting environmental parameters, according to some examples.

DETAILED DESCRIPTION

[0035] Although specific examples are disclosed below, inventive subject matter extends beyond the specifically disclosed examples to alternative examples and/or uses and modifications and equivalents thereof. Thus, the scope of the claims appended hereto is not limited by any of the particular examples described below. For example, in any method or process disclosed herein, the acts or operations of the method or process may be performed in any suitable sequence and are not necessarily limited to any particular disclosed sequence. Various operations may be described as multiple discrete operations, in turn, in a manner that may help understand specific examples; however, the description order should not be construed to imply that these operations are order-dependent. Additionally, the structures, systems, and/or devices described herein may be embodied as integrated or separate components.

[0036] For comparisons of various examples, certain aspects and advantages of these examples are described. Not necessarily all such aspects or advantages are achieved by any particular example. Thus, for example, various examples may be carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other aspects or advantages as may also be taught or suggested herein.

Component Index

[0037] 202 Air measurement tunnel [0038] 204Cable [0039] 206Underground air measurement chamber [0040] 208Spud pile [0041] 210Central control platform [0042] 212Multi-parameter monitor [0043] 214Air inlet end of tunnel [0044] 216Flexible manipulator [0045] 302Air measurement section [0046] 304Computer [0047] 306Communication line [0048] 402Ultrasonic anemometer [0049] 404Spherical hinge [0050] 406Multi-axis manipulator [0051] 502Rubber pressure air hose [0052] 504Micro pneumatic cylinder

[0053] The invention described herein provides several benefits that overcome the shortcomings in the prior art. For instance, adopting flexible manipulators for cross-sectional air measurement may satisfy the requirements for large-section air measurement and realize remote air measurement. This is in line with the intelligent development trend of modern large-scale mines.

[0054] The flexible manipulator, as shown in FIG. 6, may be flattened, which can reduce interference on the section of air volume during the process of air volume measurement in said section. The flexible manipulator may also be driven by air pressure from a compressed air pipeline, which is safe and reliable.

[0055] The multi-parameter monitor may enable 24-hour real-time monitoring and timely reflect environmental parameters in the underground tunnel in the case of a disaster, providing quick, accurate data for those responsible for decision-making above ground.

[0056] In general, the systems and methods provided herein enable the measurement of environmental parameters in underground coal mines while saving considerable human and material resources. During normal mining, the system does not necessitate human intervention. The system can automatically patrol and measure the air volume data in a tunnel section based on 5G wireless data transmission technology and automatic control from solenoid valves.

[0057] Additionally, the system can remote measurement of underground airflow, the collection of gas information in a disaster area, and visualization of tunnel conditions, which is useful in the case of underground disasters. In this way, the present invention provides data for rescue workers (again, in the case of underground disasters), improves the ability of mine disaster response and relief, and may ensure the safety of emergency rescue personnel.

[0058] FIG. 1 illustrates a diagrammatic view of a mine tunnel environmental information measurement system, according to some examples. As shown in FIG. 1, the measurement system is used in an air measurement tunnel 202. Generally, the system comprises an ultrasonic anemometer 402, a multi-parameter monitor 212, a data acquisition module, a central control platform 210, a data communication module, a flexible manipulator 216, a power conversion module, a display and alarm module, and a computer 304. The ultrasonic anemometer 402 may be YFC15, but other anemometers can also be used.

[0059] In some examples, the ultrasonic anemometer 402 is installed on the free end of the flexible manipulator 216. The opposite end of the flexible manipulator 216 may be fixed on a spud pile 208 in the underground air measurement chamber 206. As shown in FIG. 1, any number of flexible manipulators 216 as desired may be used with this invention.

[0060] The data communication module has two modes: a wired transmission mode and a wireless transmission mode. The ultrasonic anemometer 402 and the multi-parameter monitor 212 may be communicatively coupled to the data acquisition module through wired transmission. Additionally, the central control platform 210 may be communicatively coupled with the flexible manipulator 216, the data acquisition module, and the display and alarm module through wired transmission. In some examples, the central control platform 210 is communicatively coupled to the computer 304 through either wired or wireless transmission.

[0061] The multi-parameter monitor 212 may be included at the entrance of the mine tunnel or in an area of operation within the mine tunnel to display information garnered by the ultrasonic anemometer 402.

[0062] According to some examples, the power conversion module supplies power to the ultrasonic anemometer 402, the multi-parameter monitor 212, the central control platform 210, the flexible manipulator 216, and the display and alarm module.

[0063] In some examples, the multi-parameter monitor 212 further comprises an infrared detector, a CH.sub.4 gas sensor, a CO gas sensor, an O.sub.2 gas sensor, a CO.sub.2 gas sensor, a temperature and humidity sensor, or any combination thereof.

[0064] In some examples, the CH.sub.4 gas sensor, the CO gas sensor, the O.sub.2 gas sensor, and the CO.sub.2. gas sensor, if any or all are present, are installed in an explosion-proof enclosure. If present, the infrared detector may be installed in an explosion-proof enclosure that is suspended and fixed on the tunnel roof at the air inlet end 214. The central control platform 210, the data acquisition module, the power conversion module, and the display and alarm module may similarly be installed in an explosion-proof enclosure fixed at the bottom of the tunnel, at least 50 meters away from the flexible manipulator 216.

[0065] FIG. 2 illustrates a profile view of a measurement system for mine tunnel environmental information and FIG. 3 illustrates a top view of the mine tunnel environmental information measurement system, according to some examples. FIG. 2 shows a cable 204 connecting the central control platform 210 to the underground air measurement chamber 206. Also depicted in FIG. 2 is the multi-parameter monitor 212 at the air inlet end of the tunnel 214.

[0066] FIG. 3 illustrates the intake air flow direction underground in the mine tunnel. This air flows into the air measurement section 302 adjacent the underground air measurement chamber 206, which in turn may be under a spud pile 208. A computer 304, above ground, may be included with a communication line 306 for receiving and transmitting information to the central control platform 210.

[0067] The flexible manipulator 216 may comprise a multi-axis manipulator 406, a plurality of solenoid valves, a rubber pressure air hose 502, a micro pneumatic cylinder 504, or any combination thereof. In some examples, the multi-axis manipulator 406 includes a hollow structure, and the end of each manipulator may be fixed with three micro pneumatic cylinder 504s about their circumference. According to some examples, the micro pneumatic cylinder 504 has one of its ends coupled to the rubber pressure air hose 502 of the multi-axis manipulator 406. The solenoid valves may be installed in the spud pile 208 of the underground air measurement chamber 206 to control the micro pneumatic cylinder 504 by regulating the air pressure in the rubber pressure air hose 502. This, in turn, permits control of the flexible manipulator 216. Additionally, the manipulators of the multi-axis manipulator 406 may be flexibly connected through a spherical hinge 404.

[0068] FIG. 4 illustrates a diagrammatic view of a flexible manipulator 216, according to some examples. As shown in FIG. 4, the flexible manipulator 216 may be a four-axis manipulator. The four-axis flexible manipulator 216 may have its first-axis manipulator fixed in the spud pile 208 of the underground air measurement chamber 206, and the second-axis manipulator flexibly coupled to the first-axis manipulator through the spherical hinge 404. In some examples, the solenoid valve in the spud pile 208 controls three micro pneumatic cylinder 504s through regulating the air pressure in the rubber pressure air hose 502 of the first-axis manipulator. In this way, the solenoid valve can effectively control the second-axis manipulator. Similarly, the solenoid valve can realize control of the third-axis manipulator and the fourth-axis manipulator, thereby achieving control of the entire flexible manipulator 216.

[0069] FIG. 5 illustrates a diagrammatic view of multi-axis flexible manipulator 6 and its connections, according to some examples. This view shows the rubber pressure air hose 502 coupled to the flexible manipulator 216, the spherical hinge 404 flexibly coupling adjacent flexible manipulator 216s, and the micro pneumatic cylinder 504 within the flexible manipulator 216. Also shown is a cross-sectional view of the micro pneumatic cylinder 504, showing three distinct micro pneumatic cylinder 504s. While three micro pneumatic cylinder 504s are shown in FIG. 5, it is understood that any number can fit within the flexible manipulator 216 or as desired. In this example, as few as one micro pneumatic cylinder 504 may be implemented.

[0070] FIG. 6 illustrates a cross-sectional view of a flexible manipulator 216, according to some examples. In this view, you can see that the shape of the flexible manipulator 216 is flattened, which streamlines the shape to reduce its interference on the air volume in the tunnel section, thereby facilitating the avoidance of inadvertently obtaining an incorrect uncorrected wind speed value.

[0071] FIG. 7 illustrates a flowchart depicting a method of measuring mine tunnel environmental information, according to some examples. Generally, the system is started, and an initial setting is input by a user. This initial setting may include test task establishment and test point selection. Next, the sensor parameters are calibrated. After this, the flexible mechanical wall program is started. An uncorrected wind speed value is then obtained.

[0072] If the wind speed value is not within a reliable threshold value, the wind speed value is corrected. Then the air volume program is called, and the collected data is stored. If the wind speed value is within a reliable threshold value, the collected data is stored without the need for correction to the wind speed value. The process of gathering the uncorrected wind speed value may use a flexible robot arm homing program.

[0073] Once the data has been stored, the program may be run again for additional data points or ended if no further data is needed. The steps of FIG. 7 are illustrated in further detail in FIGS. 10-14 below,

[0074] FIG. 8 illustrates a diagrammatic graph displaying a longitudinal air measurement route planning diagram of an ultrasonic anemometer 402, and FIG. 9 illustrates a diagrammatic graph displaying a transverse air measurement route planning diagram of an ultrasonic anemometer 402, according to some examples. FIGS. 8 and 9 show the grids that the tunnel is divided into, as will be described in FIG. 13 below.

[0075] FIG. 10 illustrates a flowchart depicting a method of measuring mine tunnel environmental information, according to some examples. In some examples, the method of measuring mine tunnel environmental information comprises using a measuring system (at step 1000). The measurement system may be the system illustrated and described in FIGS. 1-9.

[0076] According to some examples, the method of measuring mine tunnel environmental information comprises testing environmental parameters (at step 1002). This testing may occur via the multi-parameter monitor. The method of measuring mine tunnel environmental information may include adjusting the environmental parameters step 1004). This adjustment may also occur via the multi-parameter monitor.

[0077] In some examples, the method of measuring mine tunnel environmental information comprises controlling a working time and an opening size of the solenoid valves connecting each at least one flexible manipulator (at step 1006). This control may occur via the central control platform.

[0078] FIG. 11 illustrates a flowchart depicting a method of obtaining information about an air volume in a tunnel, according to some examples. In some examples, the method of obtaining information about an air volume in a tunnel comprises scanning the tunnel (at step 1100). This scanning may occur via an infrared detector. According to some examples, the method of obtaining information about an air volume in a tunnel comprises notifying an operator of a scanned object (at step 1102). This notification may occur via the display and alarm module.

[0079] The method of obtaining information about an air volume in a tunnel may comprise measuring an air volume in the tunnel (at step 1104). This measurement may occur via the ultrasonic anemometer. In some examples, the method of obtaining information about an air volume in a tunnel comprises obtaining an uncorrected air volume of a section in the tunnel (at step 1106). This procurement may likewise occur via the ultrasonic anemometer.

[0080] FIG. 12 illustrates a flow chart depicting a method of obtaining information about calibrated air volumes, according to some examples. In some examples, the method of obtaining information about calibrated air volumes comprises calibrating the air volume for storage (at step 1200). According to some examples, the method of obtaining information about calibrated air volumes comprises calculating the calibrated air volume (at step 1202). The method of obtaining information about calibrated air volumes may include determining if the calibrated air volume is within the reliable threshold value (at step 1204).

[0081] If the calibrated air volume is within the reliable threshold value, in some examples, the method of obtaining information about calibrated air volumes comprises transmitting data about the air volume to the computer through a connection selected from the group consisting of a cable, a 5G network, and combinations thereof (at step 1206a).

[0082] If the calibrated air volume is outside of the reliable threshold value, according to some examples, the method of obtaining information about calibrated air volumes comprises remeasuring the air volume in the tunnel (at step 1206b). This remeasurement may occur via the ultrasonic anemometer. The method of obtaining information about calibrated air volumes may comprise obtaining an additional uncorrected air volume of a section in the tunnel (at step 1208b). This procurement may likewise occur via the ultrasonic anemometer.

[0083] FIG. 13 illustrates a flowchart depicting a method of controlling flexible manipulators, according to some examples. In some examples, the method of controlling flexible manipulators comprises establishing a rectangular coordinate system (at step 1300). The rectangular coordinate system may be configured such that a lower left corner of a windward end of the mine tunnel is an origin, a width of the mine tunnel is an x-axis, and a height of the mine tunnel is a y-axis. According to some examples, the method of controlling flexible manipulators comprises dividing the mine tunnel into even and isometrical segments in both a direction of the width and a direction of the height (at step 1302).

[0084] The method of controlling flexible manipulators may comprise determining an air measurement route of the ultrasonic anemometer (at step 1304). This determination may occur based on the division of the mine tunnel. In some examples, the method of controlling flexible manipulators comprises setting the central control platform according to a piece-wise function equation of a movement of the ultrasonic anemometer (at step 1306). According to some examples, the method of controlling flexible manipulators comprises controlling each at least one flexible manipulator (at step 1308). This control may occur via the central control platform.

[0085] FIG. 14 illustrates a flowchart depicting a method of adjusting environmental parameters, according to some examples. In some examples, the method of adjusting environmental parameters comprises testing environmental parameters (at step 1400). This testing may occur via the multi-parameter monitor. According to some examples, the method of adjusting environmental parameters comprises determining if the environmental parameters exceed a threshold of the mine tunnel (at step 1402). The method of adjusting environmental parameters may include monitoring the environmental parameters (at step 1404). This monitoring may occur for at least 24 hours.

[0086] In some examples, adjusting environmental parameters involves sending a notification to the display and alarm module (at step 1406). According to some examples, the method of adjusting environmental parameters comprises adjusting the environmental parameters simultaneously with sending the notification (at step 1408).

Interpretation

[0087] None of the steps described herein are essential or indispensable. Any of the steps can be adjusted or modified. Other or additional steps can be used. Any portion of any of the steps, processes, structures, and/or devices disclosed or illustrated in one embodiment, flowchart, or example in this specification can be combined or used with or instead of any other portion of any of the steps, processes, structures, and/or devices disclosed or illustrated in a different embodiment, flowchart, or example. The embodiments and examples provided herein are not intended to be discrete and separate from each other.

[0088] The section headings and subheadings provided herein are nonlimiting. The section headings and subheadings do not represent or limit the full scope of the embodiments described in the sections to which the headings and subheadings pertain. For example, a section titled Topic 1 may include embodiments that do not pertain to Topic 1, and embodiments described in other sections may apply to and be combined with embodiments described within the Topic 1 section.

[0089] Other features are not labeled in each figure to increase the clarity of various features.

[0090] The various features and processes described above may be used independently of one another or may be combined in various ways. All possible combinations and sub-combinations are intended to fall within the scope of this disclosure. In addition, certain method, event, state, or process blocks may be omitted in some implementations. The methods, steps, and processes described herein are also not limited to any particular sequence. The blocks, steps, or states relating thereto can be performed in other appropriate sequences. For example, described tasks or events may be performed in an order other than the order specifically disclosed. Multiple steps may be combined in a single block or state. The example tasks or events may be performed in serial, parallel, or some other manner. Tasks or events may be added or removed from the disclosed example embodiments. The example systems and components described herein may be configured differently than described. For example, elements may be added to, removed from, or rearranged compared to the disclosed example embodiments.

[0091] Conditional language used herein, such as, among others, can, could, might, may, e.g., Unless expressly stated otherwise or understood within the context as used, the like is generally intended to convey that certain embodiments in other embodiments do not include certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without author input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment. The terms comprising, including, having, and the like are synonymous and are used inclusively, in an open-ended fashion, and do not exclude additional elements, features, acts, operations, and so forth. Also, the term or is used in its inclusive sense (and not in its exclusive sense) so that when used, for example, to connect a list of elements, the term or means one, some, or all of the elements in the list. Conjunctive language such as the phrase at least one of X, Y, and Z, unless expressly stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc., may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require at least one of X, at least one of Y, and at least one of Z to each be present.

[0092] The term and/or means that and applies to some embodiments, and or applies to some embodiments. Thus, A, B, and/or C can be replaced with A, B, and C written in one sentence and A, B, or C written in another sentence, A, B, and/or C means that some embodiments can include A and B, some embodiments can include A and C, some embodiments can include B and C, some embodiments can only include A, some embodiments can include only B, some embodiments can include only C, and some embodiments can include A, B, and C. The term and/or is used to avoid unnecessary redundancy.

[0093] While certain example embodiments have been described, these embodiments have been presented by example only and are not intended to limit the scope of the inventions disclosed herein. Thus, nothing in the foregoing description implies that any particular feature, characteristic, step, module, or block is necessary or indispensable. indeed, the novel methods and systems described herein may be embodied in various forms; furthermore, various omissions, substitutions, and changes in the form of the methods and systems described herein may be made without departing from the spirit of the inventions disclosed herein.