COMPUTATION IN HOMOMORPHIC ENCRYPTION SYSTEMS
20220366059 · 2022-11-17
Inventors
- Nandakumar Sasidharan Rajalekshmi (Thiruvananthapuram, IN)
- Flavio A. Bergamaschi (Southampton, GB)
- Evangelos Stavros Eleftheriou (Rueschlikon, CH)
Cpc classification
G11C27/005
PHYSICS
G06F21/79
PHYSICS
G11C27/00
PHYSICS
G11C11/413
PHYSICS
G06F17/16
PHYSICS
G11C11/4085
PHYSICS
G11C7/1006
PHYSICS
International classification
G06F17/14
PHYSICS
G06F17/16
PHYSICS
G06F21/79
PHYSICS
Abstract
In an approach, a process stores a matrix of multibit values for a computation in an analog multiply-accumulate unit including at least one crossbar array of binary analog memory cells connected between respective pairs of word- and bit-lines of the array, where: bits of each multibit value are stored in cells connected along a word-line, and corresponding bits of values in a column of the matrix are stored in cells connected along a bit-line. In each of one or more computation stages for a cryptographic element, the process supplies a set of polynomial coefficients of an element bitwise to respective word-lines of the unit to obtain analog accumulation signals on the respective bit-lines. The process converts the analog signals to digital. The process processes the digital signals obtained from successive bits of the polynomial coefficients in each of the stages to obtain a computation result for the cryptographic element.
Claims
1. A computer-implemented method comprising: storing a matrix of multibit values for a computation in an analog multiply-accumulate unit comprising at least one crossbar array of binary analog memory cells connected between respective pairs of word-lines and bit-lines of the at least one crossbar array, wherein: bits of each multibit value are stored in cells connected along a word-line; and corresponding bits of values in a column of the matrix are stored in cells connected along a bit-line; in each of one or more computation stages for a cryptographic element, supplying a set of polynomial coefficients of an element bitwise to respective word-lines of the analog multiplying-accumulate unit to obtain analog accumulation signals on the respective bit-lines; converting the analog accumulation signals to digital signals; and processing the digital signals obtained from successive bits of the polynomial coefficients in each of the one or more computation stages to obtain a computation result for the cryptographic element.
2. The computer-implemented method of claim 1, further comprising: for each bit of the polynomial coefficients supplied bitwise to the word-lines, accumulating the digital signals obtained from a set of bit-lines connected to cells storing values in a column of the matrix with successive bit-shifts corresponding to successive bit-positions of the values; and accumulating the digital signals for the successive bits of the polynomial coefficients with successive bit-shifts corresponding to successive bit-positions of the coefficients.
3. The computer-implemented method of claim 1, wherein the computation result for a first cryptographic element c.sub.1 is a result of a polynomial multiplication c.sub.1c.sub.2 and wherein c.sub.2 is a second cryptographic element, further comprising: storing polynomial coefficients of the second cryptographic element c.sub.2 in the multiply-accumulate unit as respective multibit values in a first column of said matrix; in successive computation stages, progressively shifting the polynomial coefficients of element c.sub.1 relative to a set of word-lines connected to cells storing coefficients of c.sub.2 until coefficients of c.sub.1 have been supplied bitwise to word-lines in the set of word-lines; and processing the digital signals obtained, in each of the computation stages, from the set of bit-lines connected to cells storing the coefficients of c.sub.2 and from successive bits of the coefficients of c.sub.1 to obtain the result of the polynomial multiplication c.sub.1c.sub.2.
4. The computer-implemented method of claim 3, further comprising: processing the digital signals to obtain the result of the polynomial multiplication c.sub.1c.sub.2 modulo p, wherein p is a predefined prime number for a homomorphic encryption system.
5. The computer-implemented method of claim 3, further comprising: for at least one further cryptographic element c: storing polynomial coefficients of element c, as respective multibit values in a further column of said matrix, in cells connected to the set of word-lines; and processing the digital signals obtained, in each of said the computation stages, from the set of bit-lines connected to cells storing the coefficients of c and from successive bits of the coefficients of c.sub.1 to obtain a further result of the further polynomial multiplication c.sub.1c.
6. The computer-implemented method of claim 3, wherein: the second cryptographic element c.sub.2 is an elements of a secret key (1, s) of a homomorphic encryption system; the first cryptographic element c.sub.1 is an element of a cyphertext (c.sub.0, c.sub.1) encrypted under a corresponding public key; c.sub.0 is another cryptographic element; and further comprising, subsequent to obtaining a result of a polynomial multiplication c.sub.1s, computing a sum of c.sub.1s and c.sub.0 to obtain a decryption m=c.sub.0+c.sub.1s modulo p of the cyphertext, wherein p is a predefined prime number for the homomorphic encryption system.
7. The computer-implemented method of claim 6, further comprising: computing the sum in an in-memory logic array.
8. The computer-implemented method of claim 3, wherein: encrypted weights w of a neural network inference model comprise respective cryptographic elements c.sub.w and polynomial coefficients of each element c.sub.w are stored in the multiply-accumulate unit as respective multibit values in a column of the matrix; encrypted data values d to be weighted and propagated through the network in an inference operation comprise respective cryptographic elements c.sub.d for which polynomial multiplication c.sub.dc.sub.w is required to weight a data value d by a weight w; further comprising: performing each polynomial multiplication c.sub.dc.sub.w in the inference operation, wherein c.sub.d corresponds to the first cryptographic element c.sub.1 and c.sub.w corresponds to the second cryptographic element c.sub.2; and processing the results of polynomial multiplications c.sub.dc.sub.w as encrypted data values are propagated through the network to obtain an encrypted inference result from the model.
9. The computer-implemented method of claim 8, wherein: for an encrypted data value d to be weighted by a plurality of weights w.sub.j=1 to L for propagation through the neural network, requiring a corresponding plurality of polynomial multiplications c.sub.dc.sub.w.sub.
10. The computer-implemented method of claim 1, further comprising: for computing a polynomial multiplication c.sub.1c.sub.2 of first cryptographic element c.sub.1 and a second cryptographic element c.sub.2, each having n polynomial coefficients, wherein said matrix of multibit values comprises a Discrete Fourier Transform matrix M.sub.1 with values e.sub.i,j, i=0 to (n−1), j=0 to (n−1), given by e.sub.i,j=k.sup.i×j modulo p, wherein k.sup.N=1 modulo p, N≥n and p is a predefined prime number for a homomorphic encryption system, comprising: storing an Inverse Discrete Fourier Transform matrix M.sub.2 corresponding to M.sub.1 as a further matrix of multibit values in a further crossbar array of the multiply-accumulate unit; supplying n coefficients of element c.sub.1 bitwise to respective word-lines connected to cells storing values in M.sub.1, and processing the digital signals obtained from successive bits of the coefficients to obtain a Discrete Fourier Transform T(c.sub.1) of the coefficients of element c.sub.1; supplying n coefficients of element c.sub.2 bitwise to respective word-lines connected to cells storing values in M.sub.1, and processing the digital signals obtained from successive bits of the coefficients to obtain a Discrete Fourier Transform T(c.sub.2) of the coefficients of element c.sub.2; performing component-wise multiplication of corresponding components of T(c.sub.1) and T(c.sub.2) to obtain another Discrete Fourier Transform T(c.sub.3) of the coefficients of a cryptographic element c.sub.3; and supplying the components of T(c.sub.3) bitwise to respective word-lines connected to cells storing values in M.sub.2 to obtain analog accumulation signals on the bit-lines, converting the analog accumulation signals to digital signals and processing the digital signals obtained from successive bits of the components to obtain a result of the polynomial multiplication c.sub.3=c.sub.1c.sub.2.
11. The computer-implemented method of claim 10, further comprising: processing the digital signals to obtain the result of the polynomial multiplication c.sub.1c.sub.2 modulo p, where p is a predefined prime number for the homomorphic encryption system.
12. The computer-implemented method of claim 1, further comprising: performing an operation selected from the group consisting of: (i) addition, (ii) subtraction, (iii) scaling, and (iv) component-wise multiplication, of cryptographic elements required for a the computation using an in-memory logic array.
13. The computer-implemented method of claim 1, wherein the binary analog memory cells comprise analog static random access memory (SRAM) cells.
14. A computer system comprising: a homomorphic encryption system in which cryptographic elements are represented by polynomials with multibit coefficients, comprising an analog multiply-accumulate unit having at least one crossbar array of binary analog memory cells connected between respective pairs of word-lines and bit-lines of the at least one crossbar array, one or more computer readable storage media, and program instructions collectively stored on the one or more computer readable storage media for execution, the program instructions comprising: program instructions to store a matrix of multibit values for a computation in an analog multiply-accumulate unit comprising at least one crossbar array of binary analog memory cells connected between respective pairs of word-lines and bit-lines of the at least one crossbar array, wherein: bits of each multibit value are stored in cells connected along a word-line; and corresponding bits of values in a column of the matrix are stored in cells connected along a bit-line; program instructions to, in each of one or more computation stages for a cryptographic element, supply a set of polynomial coefficients of an element bitwise to respective word-lines of the analog multiplying-accumulate unit to obtain analog accumulation signals on the respective bit-lines; program instructions to convert the analog accumulation signals to digital signals; and program instructions to process the digital signals obtained from successive bits of the polynomial coefficients in each of the one or more computation stages to obtain a computation result for the cryptographic element.
15. The computer system of claim 14, further comprising: program instructions to, for each bit of the polynomial coefficients supplied bitwise to the word-lines, accumulate the digital signals obtained from a set of bit-lines connected to cells storing values in a column of the matrix with successive bit-shifts corresponding to successive bit-positions of the values; and program instructions to accumulate the digital signals for the successive bits of the polynomial coefficients with successive bit-shifts corresponding to successive bit-positions of the coefficients.
16. The computer system of claim 14, wherein the computation result for a first cryptographic element c.sub.1 is a result of a polynomial multiplication c.sub.1c.sub.2 and wherein c.sub.2 is a second cryptographic element, further comprising: program instructions to store polynomial coefficients of the second cryptographic element c.sub.2 in the multiply-accumulate unit as respective multibit values in a first column of said matrix; program instructions to, in successive computation stages, progressively shift the polynomial coefficients of element c.sub.1 relative to a set of word-lines connected to cells storing coefficients of c.sub.2 until coefficients of c.sub.1 have been supplied bitwise to word-lines in the set of word-lines; and program instructions to process the digital signals obtained, in each of the computation stages, from the set of bit-lines connected to cells storing the coefficients of c.sub.2 and from successive bits of the coefficients of c.sub.1 to obtain the result of the polynomial multiplication c.sub.1c.sub.2.
17. The computer system of claim 16, further comprising: program instructions to process the digital signals to obtain the result of the polynomial multiplication c.sub.1c.sub.2 modulo p, wherein p is a predefined prime number for a homomorphic encryption system.
18. The computer system of claim 16, further comprising: program instructions to, for at least one further cryptographic element c: store polynomial coefficients of element c, as respective multibit values in a further column of said matrix, in cells connected to the set of word-lines; and process the digital signals obtained, in each of said the computation stages, from the set of bit-lines connected to cells storing the coefficients of c and from successive bits of the coefficients of c.sub.1 to obtain a further result of the further polynomial multiplication c.sub.1c.
19. The computer system of claim 16, wherein: the second cryptographic element c.sub.2 is an elements of a secret key (1, s) of a homomorphic encryption system; the first cryptographic element c.sub.1 is an element of a cyphertext (c.sub.0, c.sub.1) encrypted under a corresponding public key; c.sub.0 is another cryptographic element; and further comprising program instructions to, subsequent to obtaining a result of a polynomial multiplication c.sub.1s, compute a sum of c.sub.1s and c.sub.0 to obtain a decryption m=c.sub.0+c.sub.1s modulo p of the cyphertext, wherein p is a predefined prime number for the homomorphic encryption system.
20. A computer program product comprising: one or more computer readable storage media, and program instructions collectively stored on the one or more computer readable storage media, the program instructions comprising: program instructions to store a matrix of multibit values for a computation in an analog multiply-accumulate unit comprising at least one crossbar array of binary analog memory cells connected between respective pairs of word-lines and bit-lines of the at least one crossbar array, wherein: bits of each multibit value are stored in cells connected along a word-line; and corresponding bits of values in a column of the matrix are stored in cells connected along a bit-line; program instructions to, in each of one or more computation stages for a cryptographic element, supply a set of polynomial coefficients of an element bitwise to respective word-lines of the analog multiplying-accumulate unit to obtain analog accumulation signals on the respective bit-lines; program instructions to convert the analog accumulation signals to digital signals; and program instructions to process the digital signals obtained from successive bits of the polynomial coefficients in each of the one or more computation stages to obtain a computation result for the cryptographic element.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
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DETAILED DESCRIPTION
[0025] Embodiments of the invention can be employed in any homomorphic encryption (HEnc) system in which computations are performed over cryptographic elements which are represented by polynomials. The cryptographic elements may be any polynomial elements of an HEnc scheme over which computations need to be performed, such as elements of cryptographic keys, ciphertexts, message data, and so on. In HEnc schemes based on the RLWE (Ring Learning with Errors) problem, for instance, cryptographic elements are represented by polynomials which are elements of a finite polynomial ring. These polynomials, e.g. of the form a.sub.0+a.sub.1x+a.sub.2x.sup.2+ . . . +a.sub.n-1x.sup.n-1+a.sub.nx.sup.n, are of very large degree (e.g. n=1024), and have coefficients a.sub.0, a.sub.1, etc., which are represented by large numbers (e.g. many hundreds) of bits. These schemes exploit a homomorphic property to allow computations to be performed over encrypted data. For example, if messages m.sub.1 and m.sub.2 are encrypted as ciphertexts E(m.sub.1) and E(m.sub.2) under the encryption scheme, then E(m.sub.1)*E(m.sub.2)=E(m.sub.1*m.sub.2) for some operator *.
[0026]
[0027] MAC controller 4 provides the control circuitry for controlling application of signals to crossbar arrays 3 to store data values in cells of an array, to apply signals for computations in an array, and to process signals output by an array as described in more detail below. While a plurality of crossbar arrays 3 are shown in
[0028] While
[0029] In some embodiments, digital processor 5 and/or MAC controller 4 may include electronic circuitry such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs) for executing program instructions to implement functions described. Program instructions/program modules may include routines, programs, objects, components, logic, data structures, and so on that perform particular tasks or implement particular abstract data types. Digital processor 5 and/or MAC controller 4 may also comprise special-purpose hardware-based systems, such as ASICs (Application-Specific Integrated Circuits), to implement particular functionality.
[0030] System bus 6 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus. System bus 6 may represent a communications network connecting digital processor 5 to sub-units of MAC controller 4 which control individual crossbar arrays, or subsets of arrays, in some embodiments.
[0031] To perform a computation in apparatus 1, a matrix M of multibit values for the computation is stored in one or more crossbar arrays 3 of the MAC unit 2.
[0032] While a matrix M with multiple columns is illustrated in
[0033]
[0034] The analog memory cells 10 of MAC unit 2 may be implemented by non-volatile or persistent memory cells comprising any of a variety of resistance- or charge-based memory devices in which analog computation is based on use of currents or charges respectively. Examples of charge-based memory devices include DRAM, SRAM (Random-Access Memory) and flash memory devices, and resistance-based devices include PCM (Phase-Change Memory), RRAM (Resistive Random-Access Memory) and STT-MRAM (Spin-Transfer Torque Magnetic Random-Access Memory) for example. Input signals are applied as voltages on the word-lines and, depending on cell-type, vector-matrix multiplication occurs via a combination of Ohm's or Coulomb's law and Kirchhoff's circuit laws, making use of the physical structure of the array. The results are derived from the net analog currents or voltages read through the bit-line ADC. The MAC control circuitry for storing values in cells 10, and for driving cells during array computations, can be implemented in known manner according to the particular implementation of the analog cells.
[0035] In some embodiments of apparatus 1, the analog cells 10 comprise analog SRAM cells. An example of an analog SRAM cell is shown in
[0036] Where values in more than one column of matrix M are stored in an array 3, the digital accumulation signals are processed on a column-by-column basis. In some embodiments, MAC controller 4 includes processing logic for processing the digital signals obtained from respective columns of the matrix. For each bit of the coefficients supplied bitwise to the word lines, this processing logic accumulates the digital signals obtained from the set of bit-lines connected to cells storing values in a column of the matrix with successive bit-shifts corresponding to successive bit-positions of those values. The resulting digital signals for successive input bits of the coefficients are also accumulated with successive bit-shifts corresponding to successive bit-positions of the coefficients.
[0037] The processing logic in
[0038] The above example is simplistic, but the same principles can be applied to the large polynomial coefficient vectors of real cryptographic elements and stored b-bit values with large numbers of bits. As illustrated in
[0039] When the matrix M or the coefficient vector to be processed in the MAC unit is larger than the size of a single array, the matrix M or the coefficient vector can be mapped to multiple arrays and the multiplication results from these arrays can be combined to generate the final result.
[0040] The above technique allows vector-matrix multiplication for cryptographic computations to be performed with O(1) time-complexity. The decision bounds in ADC 12 can be tuned to accommodate any offsets from non-idealities of the array or analog memory cells. The use of analog SRAM cells 10 simplifies this task by reducing the one and zero state variability of cells. The bitwise operation thus allows computations to be performed with the bit-level accuracy required for HEnc systems.
[0041] Some embodiments employ a technique for computing the result of a polynomial multiplication c.sub.1c.sub.2 between a first cryptographic element c.sub.1 and a second cryptographic element c.sub.2. This technique is illustrated in
[0042] Consider a simple polynomial multiplication c.sub.1c.sub.2 for c.sub.1=(ax.sup.2+bx) and c.sub.2=(cx.sup.2+dx)
[0043]
[0044] One or more further polynomial multiplications c.sub.1c can be performed in parallel in
[0045] The technique described in
[0051] The message m can then be recovered via the decryption process as c.sub.0+c.sub.1s mod p. In a decryption system employing the
[0052] While the sum c.sub.0+c.sub.1s may be computed in digital processor 5, some embodiments may employ a hybrid in-memory compute system in MAC unit 2. Here, the polynomial multiplication c.sub.1s is performed in MAC unit 2 as described above, and the sum c.sub.0+c.sub.1s is computed using an in-memory logic array. The in-memory logic can be implemented using known SRAM arrays, an example of which is described briefly with reference to
[0053] The
[0054] The technique described in
[0055]
[0056] In an HEnc inference system, inference is performed on data values encrypted under an HEnc scheme. The parameters (weights, activations functions, etc.) of the NN model are also encrypted via the HEnc scheme. In particular, in a homomorphic inference system employing the
[0057]
[0058] Another embodiment of apparatus 1 employs Discrete Fourier Transforms for multiplying cryptographic elements using analog multiply-accumulate units. The
[0059] It will be seen that the above embodiments offer highly efficient computation over cryptographic elements in HEnc systems. However, various alternatives and modifications can be made to the embodiments described. By way of example, processing operations described may be allocated differently between MAC controller 4 and digital processor 5. Embodiments can be envisaged in which coefficients are input MSB first to MAC arrays. Memory cells 10 may also be implemented using other types of cells than SRAM cells.
[0060] In general, where features are described herein with reference to a method embodying the invention, corresponding features may be provided in an apparatus/system embodying the invention, and vice versa. Steps of flow diagrams may be performed in a different order to that shown, and some steps may be performed in parallel as appropriate.
[0061] The present invention may be a system, a method, and/or a computer program product at any possible technical detail level of integration. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present invention.
[0062] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.
[0063] Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device.
[0064] Computer readable program instructions for carrying out operations of the present invention may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, configuration data for integrated circuitry, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++, or the like, and procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present invention.
[0065] Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.
[0066] These computer readable program instructions may be provided to a processor of a computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks.
[0067] The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
[0068] The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the Figures. For example, two blocks shown in succession may, in fact, be accomplished as one step, executed concurrently, substantially concurrently, in a partially or wholly temporally overlapping manner, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.
[0069] The descriptions of the various embodiments of the present invention have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. The terminology used herein was chosen to best explain the principles of the embodiment, the practical application or technical improvement over technologies found in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.