ARMED UNMANNED AERIAL VEHICLE AND METHODS OF USE THEREOF

Abstract

The present invention relates to an armed unmanned aerial vehicle (“UAV”), an armed UAV control system, and methods of use thereof. In one form, the armed UAV includes: an elongate body, a pair opposed side rotor arm assemblies extending from the sides of the body, a tail rotor arm assembly extending from a rear end of the body, a weapons system including at least one firearm associated with the body, and a flight and targeting controller operatively associated with the side rotor arm assemblies and the tail rotor arm assembly. The controller configured to: determine at least a pitch angle and yaw angle required to strike a target with the weapons system, based on target information received; and selectively control operation of each rotor arm assembly for aiming the weapons system, based on at least the pitch angle and the yaw angle determined.

Claims

1. An armed unmanned aerial vehicle (“UAV”) including: an elongate central body having a nose and an opposed tail aligned along a longitudinal axis; a pair of opposed side rotor arm assemblies respectively extending from opposite sides of the central body about a pitch axis, each side rotor arm assembly being selectively rotatable relative to the central body about the pitch axis; a tail rotor arm assembly extending from the tail of the central body along the longitudinal axis; a weapons system including at least one projectile associated with the central body; and a flight and targeting controller operatively associated with the side rotor arm assemblies and the tail rotor arm assembly, said controller configured to: responsive to receiving target information about a target, determine at least a pitch angle and a yaw angle required to strike the target with the weapons system; and selectively control operation of each said rotor arm assembly for aiming the weapons system, based on at least the pitch angle and the yaw angle determined.

2. The UAV of claim 1, wherein each said side rotor arm assembly is selectively rotatable relative to the central body over a range of at least 90° about the pitch axis.

3. The UAV of claim 1 or claim 2, wherein each said side rotor arm assembly is selectively rotatable between a hover position in which an associated rotor is substantially horizontally oriented and a forward-facing position in which the associated rotor is substantially vertically oriented.

4. The UAV of any one of claims 1 to 3, wherein selective rotation of each of said side rotor arm assembly enables the UAV to transition between three flight modes, including a hover mode, a tilting hover mode and a forward flight mode.

5. The UAV of any one of claims 1 to 5, wherein the weapons system includes at least one barrel for guiding deployment of the at least one projectile.

6. The UAV of claim 5, wherein the at least one barrel is pivotally mountable to the UAV by a barrel mount.

7. The UAV of any one of claims 1 to 6, wherein the at least one projectile includes a bullet, a shell, a grenade or any other man-portable micro-munition.

8. The UAV of any one of claims 1 to 6, wherein the at least one projectile includes a non-lethal projectile.

9. The UAV of any one of claims 6 to 8 when dependent upon claim 5, wherein responsive to receiving the target information, the flight and targeting controller further determines a barrel pitch angel and a barrel yaw angle and then selective controls operation of the barrel mount for aiming the at least one barrel independent of the UAV based on the barrel pitch angle and the barrel yaw angle determined.

10. The UAV of any one of claims 1 to 9, wherein the target information received by the flight and targeting controller is selected from target type, target location and whether the target is armed.

11. The UAV of any one of claims 1 to 9, wherein responsive to receiving the target information, the flight and targeting controller further determines an effective firing range (“EFR”) for the at least one projectile if deployed at the target.

12. The UAV of any one of claims 1 to 9, wherein the flight and targeting controller further determines an estimate of circular error probable (“CEP”) for the at least one projectile if deployed at the target based on the UAV's current position, including altitude.

13. The UAV of any one of claims 1 to 9, wherein the flight and targeting controller further determines an effective casualty radius (“ECR”) for the at least one projectile if deployed at the target based on the UAV's current position, including altitude.

14. The UAV of any one of claims 1 to 9, wherein the flight and targeting controller further determines a collateral damage estimation (“CDE”) for the at least one projectile if deployed at the target based on the UAV's current position, including altitude.

15. The UAV of any one of claims 1 to 13, wherein the flight and targeting controller is further configured to selectively control each said side rotor arm assembly responsive to receiving external commands for directing a flight path of the UAV, including switching between flight modes.

16. An armed UAV control system including: the armed UAV of any one of claims 1 to 15; at least one remotely accessible server in communication with the armed UAV; and a remote controller in communication with the UAV and/or the at least one remotely accessible server for receiving and displaying at least positional and imaging data received from the UAV and for transmitting commands to the UAV.

17. The armed UAV control system of claim 16, wherein the remote controller includes a display for displaying image data and positional, velocity and altitude data transmitted by the UAV in real-time.

18. The armed UAV control system of claim 16 or claim 17, wherein the remote controller enables a user to toggle the weapons system of the UAV between active and inactive modes.

19. The armed UAV control system of any one of claims 16 to 18, wherein the remote controller enables a user to issue a fire command to the UAV.

20. A method of firing a projectile from an armed UAV, said method including: providing the armed UAV of any one of claims 1 to 15; identifying a target and determining target information; based on said target information, determining at least a pitch angle and yaw angle required to strike the target with the projectile; moving the UAV, based at least on the pitch angle and the yaw angle determined, to at least partially aim the UAV; and firing the at least one projectile at the target from the UAV.

21. The method of claim 20, further including moving the weapons system relative to the UAV and based on the pitch angle and the yaw angle determined.

22. The method of claim 20 or claim 21, wherein the firing includes transmitting a firing command to the UAV via a remote control.

23. The method of claim 22, wherein the firing command is transmitted to the UAV via an encrypted radio link.

24. The method of claim 22, wherein the firing command is transmitted to the UAV via a non-encrypted radio link.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0219] Preferred features, embodiments and variations of the invention may be discerned from the following Detailed Description which provides sufficient information for those skilled in the art to perform the invention. The Detailed Description is not to be regarded as limiting the scope of the preceding Summary of Invention in any way. The Detailed Description will make reference to a number of drawings as follows:

[0220] FIGS. 1A and 1B respectively show an upper perspective view and a bottom view of an armed UAV according to an embodiment of the present invention. The UAV is shown in FIG. 1A with the weapons system removed and in FIG. 1B with the rotor arm assemblies removed;

[0221] FIGS. 2A to 2C respectively show the flight modes of an armed UAV according to another embodiment of the present invention. The UAV is again shown with the weapons system removed;

[0222] FIGS. 3A and 3B respectively show the armed UAV as shown in FIGS. 1A and 1B in a tilting hover flight mode;

[0223] FIG. 4 shows a front perspective view of part of an armed UAV according to another embodiment of the present invention;

[0224] FIG. 5 shows an upper perspective view of an armed UAV according to another embodiment of the present invention;

[0225] FIG. 6 shows an upper perspective view of an armed UAV according to another embodiment of the present invention;

[0226] FIG. 7 shows an upper perspective view of an armed UAV according to another embodiment of the present invention;

[0227] FIG. 8 shows an upper perspective view of an armed UAV according to another embodiment of the present invention;

[0228] FIG. 9 is an illustration of an armed UAV control system according to an embodiment of the present invention;

[0229] FIG. 10 is an illustration of a screen shot of software for controlling the system as shown in FIG. 9; and

[0230] FIG. 11 is a flowchart showing steps in a method of the system as shown in FIG. 9.

DETAILED DESCRIPTION

[0231] FIGS. 1 to 8 show an armed unmanned aerial vehicle (“UAV”; 100) and parts thereof according to embodiments of the present invention.

[0232] Referring to FIG. 1A, the UAV (100) includes: an elongate body (110) having a nose (112) and an opposed tail (114) aligned along a longitudinal axis (115); a pair of opposed side rotor arm assemblies (120) respectively extending from opposite sides (116) of the body (110) about a pitch axis (121), each side rotor arm assembly (120) being selectively rotatable relative to the body (110) about the pitch axis (121); and a tail rotor arm assembly (130) extending from the tail (114) of the body (110) along the longitudinal axis (115).

[0233] Referring to FIG. 1B, the UAV (100) further includes a weapons system including a barrel (130) for deploying a projectile; a barrel gimbal mechanism (140) for stabilising and pivoting the barrel (130) relative to the UAV (100); and an on-board flight and targeting controller (150) operatively associated with the side rotor arm assemblies (120; not shown), the tail rotor arm assembly (130; partly shown) and the weapons system, including the barrel gimbal mechanism (140).

[0234] Referring to FIGS. 1A and 1B, the flight and targeting controller (150) is configured to selectively control each rotor arm assembly (120,130) responsive to receiving external commands for directing a flight path of the UAV (100), including switching between flight modes. Further and in response to receiving target information about a target, the flight and targeting controller (150) is configured to determine a pitch angle and a yaw angle required to strike the target with the projectile and then selectively control operation of each said rotor arm assembly (120, 130) and the barrel gimbal mechanism (140) to aim the weapons system, based on the pitch angle and the yaw angle determined.

[0235] The UAV (100) is configured to operate with varying degrees of autonomy ranging from fully autonomous to intermittently autonomous, or can be remotely controlled by a human operator.

[0236] The UAV (100) is capable of moving freely within the environment with respect to six degrees of freedom (e.g., three degrees of freedom in translation and three degrees of freedom in rotation). Further, the UAV (100) is capable of taking off from a surface, landing on a surface, maintaining its current position and/or orientation (e.g., hovering), and/or changing its position.

[0237] The UAV (100) is of a weight and size so as to be portable and carried by an individual.

[0238] Referring to FIG. 2A, the body (110) in some embodiments may include an aerodynamic outer shell.

[0239] Each rotor arm assembly (120, 130) includes an arm member (122, 132) having an inner end extending from the central body (110) and an opposed outer end, a motor (124, 134) and an associated rotor (126, 136) located at or near the outer end of the arm member (122, 132).

[0240] The rotor (126, 136) include two or more blades (128, 138) affixed to a central shaft. The blades (128, 138) are disposed symmetrically about the central shaft.

[0241] In use, the blades (128, 138) are turned by rotation of the central shaft, which is driven by the motor (124, 134). The blades (128, 138) are configured to rotate in a clockwise or anti-clockwise direction. Specifically, the side rotors (126) are configured to rotate in opposite directions relative to one another to provide a counteracting torque.

[0242] The motors (124, 134) are electric motors and each include a drive shaft operatively coupled to a rotor (126, 136) to drive rotation of the rotor (126, 136).

[0243] Each arm member (122, 132) extends longitudinally between the inner and outer ends in a linear direction along its longitudinal axis. The arm members (122, 132) are of a tubular construction with a substantially circular cross-section.

[0244] The arm members (122, 132) are formed from a lightweight but strong carbon fibre composite material.

[0245] As indicated, the arms (122) of the side rotor arm assemblies (120) are rotatably coupled to the body (110) such that each arm member (122) together with its associated rotor (126) and motor (124) is able to be at least partially rotated about its longitudinal axis relative to the body (110). The arm member (132) of the tail rotor arm assembly (130) is fixedly coupled to the body (110) in a non-rotatable manner.

[0246] The side rotor arm assemblies (120) are rotatably coupled to the body (110) by way of a coupling mount including a plurality of bearings. Selective rotation of each side rotor arm assembly (120) relative to the body (110) is achieved by an operatively connected servomotor mechanism.

[0247] The side rotor arm assemblies (120) can be selectively rotated relative to the body (110) over a range of at least 270°.

[0248] With reference to FIGS. 2A, 2B, and 2C, each side rotor arm assembly (120) is selectively rotatable between a hover position shown in FIG. 2A in which the associated rotors (126) are substantially horizontally oriented (i.e., having a substantially horizontal plane of rotation) and a forward-facing position as shown in FIG. 2C in which the associated rotors (126) are substantially vertically oriented (i.e., having a substantially vertical plane of rotation).

[0249] Generally speaking, when the rotors (126) are substantially horizontally oriented, they provide lift to the UAV (100). Conversely, when the rotors (126) are substantially vertically oriented, they provide thrust to the UAV (100). When the rotors (126) are oriented at an angle between being substantially horizontally and substantially vertically oriented as shown specifically in FIG. 2B, they provide both lift and thrust to the UAV (100).

[0250] In use, selective rotation of the side rotor arm assemblies (120) enables the UAV (100) to transition between three flight modes, namely a hover mode as shown in FIG. 2A, a tilting hover mode as shown in FIG. 2B and a forward flight mode as shown in FIG. 2C.

[0251] Referring to FIG. 2A, in the hover mode the UAV (100) operates like a conventional rotary wing-type UAV. The three rotors (126, 139) may provide lift thereby enabling the UAV (100) to hover and take off and land vertically.

[0252] In this mode, roll control of the UAV (100) is achieved by differential thrust of each of the rotors (126) of the side rotor arm assemblies (120). Pitch control is achieved by differential thrust on the rotor (136) of the tail rotor arm assembly (130). Yaw control is achieved by partial counter-rotation of the side rotor arm assemblies (120) relative to the body (110).

[0253] In order to change its position (i.e., move), the UAV (100) pitches and rolls to direct thrust from all three rotors (126, 136) in a desired direction of translation. Specifically, the UAV (100) moves in a forward direction by pitching forward, in a rearwards direction by pitching rearwards, and to either side by rolling to the desired side.

[0254] Best shown in FIGS. 3A and 3B, in the tilting hover mode the UAV (100) is able to maintain a negative pitch as shown in FIG. 3A or a positive pitch angle as shown in FIG. 3B while hovering, moving forward, rearwards or from side-to-side.

[0255] Referring back to FIG. 2B, in this mode roll control of the UAV (100) is achieved by differential thrust of each of the rotors (126) of the side rotor arm assemblies (120). Pitch control is achieved by differential thrust on the rotor (136) of the tail rotor arm assembly (130). Yaw control is achieved by counter-rotation of the side rotor arm assemblies (120) relative to the body (110).

[0256] When hovering, the side rotor arm assemblies (120) at least partially rotate relative to the body (100) to counter thrust provided by the rotor (136) of the tail rotor arm assembly (130) and thereby maintain the UAV's position and orientation, including the positive or negative pitch angle.

[0257] When moving forward or rearwards, the side rotor arm assemblies (120) at least partially rotate relative to the body (120) to direct thrust from the two rotors (126) in a desired direction of translation, i.e., forward or rearwards, while the rotor (136) of the tail rotor arm assembly (130) maintains a desired positive or negative pitch angle of the body (110).

[0258] Forward and rearwards propulsion is provided by the rotors (126) of the side rotor arm assemblies (120) only.

[0259] Referring to FIG. 2C, in the forward flight mode the side rotor arm assemblies (120) rotate forward relative to the body (110) to a forward-facing position in which the associated rotors (126) are substantially vertically oriented.

[0260] In this mode, roll control of the UAV (100) is achieved by at least partial counter-rotation of the side rotor arm assemblies (120) relative to the body (110). Pitch control is achieved by differential thrust of the rotor (136) of the tail rotor arm assembly (130). Yaw control is achieved by differential thrust of each of the rotors (126) of the side rotor arm assemblies (120).

[0261] Like with the tilting hover mode, in this mode forward propulsion is provided by the rotors (126) of the side rotor arm assemblies (120) only.

[0262] Referring briefly to FIG. 8, in some embodiments the UAV (100) can include one or more air foils (810) provided along a length of each arm member (122) of the side rotor arm assemblies (120) for providing lift. Accordingly, in such embodiments, lift is provided by the one or more air foils (810), rather than relying on propulsive forces only.

[0263] Further, the tail rotor arm assembly (130) can include one or more one or more horizontal stabilisers (820).

[0264] Referring to FIG. 4, in most embodiments, the UAV (100) includes three legs (410) extending downwards from the body (110) and an outer end of the arm member (132) of the tail rotor arm assembly (130) for supporting the UAV (100) when resting atop a support surface. Each leg (410) includes a foot (412) extending from an outer or distal end of the leg (410) for resting on the support surface.

[0265] Referring briefly to FIG. 5, in some embodiments, each leg (410) can include a foot clamp (510) for clamping about a support bar, such as, e.g., a fence railing.

[0266] The foot clamp (510) includes a pair of opposed clamping members (512) configured to be moved together and apart to clamp and release a support bar. The clamping members (512) are moved together and apart from one another by a selectively contolled electromechanical solenoid.

[0267] Referring back to FIG. 4, the UAV (100) further includes a camera (420) for capturing imaging data for display on an associated remote controller (to be described later).

[0268] The camera (420) is capable of capturing image and/or video data, infrared imagery and/or night vision imagery. As shown in this embodiment, the camera (420) is mounted to the body (110) via a gimbal mechanism to at least partially insulate and/or stabilise the camera (420) from noise of the UAV (100). The gimbal mechanism provides at least two degrees of freedom and includes one or more servomotors for controlling movement of the camera (420) relative to the UAV (100).

[0269] As also shown in this embodiment, the UAV (100) includes a light emitting device (430) for at least partially illuminating a path of flight in front of the UAV (100). The light emitting device (430) is in the form of an LED.

[0270] The UAV (100) generally also includes a range finder (not shown) for determining a distance between the UAV (100) and a target, or an object of interest. The range finder is a laser range finder and is typically oriented in a forward facing direction substantially parallel with a longitudinal axis of the UAV (100).

[0271] The UAV (100) further includes global navigation satellite system (“GNSS”) antenna (440) and at least one modem. The GNSS antenna (440) is configured to receive radio waves from artificial satellites for determining positional coordinates of the UAV (100). The UAV (100) further includes a GNSS receiver associated with the GNSS antenna (440) for receiving output from the antenna (440).

[0272] The flight and targeting controller (150) is configured to be in wireless communication with an external controller, such, as, e.g., a remote controller and/or a remotely accessible server, via the at least one modem for the transmission of data between the UAV (100) and the external controller, including image and positional data. The positional data may also include velocity and altitude data. The at least one modem can be a cellular modem or a radio modem.

[0273] Referring to FIGS. 6 and 7, these embodiments show a variation of the UAV (100) shown in the preceding figures in which the barrel (130) for deploying the projectile is integrally formed with the body (110) of the UAV (100). In such embodiments, the weapons system is aimed by aiming the UAV (100) at the target.

[0274] Specifically and in response to receiving target information about a target, the flight and targeting controller (150) is configured to determine a pitch angle and a yaw angle required to strike the target with the projectile and then selectively control operation of each said rotor arm assembly (120, 130) to aim the weapons system and the barrel (130) in particular at the target, based on the pitch angle and the yaw angle determined.

[0275] Referring to FIG. 7, in this embodiment, the barrel (130) is shown centrally located on the nose of the body (110) with the camera (420) being mounted to the nose (112) of the body (110) via a gimbal mechanism on one side of the barrel (130) and the range finder (710) being mounted to the nose (112) of the body (110) of the UAV (100) on an opposed other side of the barrel (130).

[0276] FIG. 9 shows an armed UAV control system (900) according to an embodiment of the present invention for remote control of the UAV (100) by an operative (910).

[0277] The system (900) includes the armed UAV (100) as previously described; at least one remotely accessible server (920) in communication with the UAV; and a remote controller (930) in communication with the at least one remotely accessible server (920) and the UAV (100) for receiving and displaying at least positional and imaging data received from the UAV (100) and for transmitting commands to the UAV (100).

[0278] In some embodiments of the system (900), data may be transmitted directly between the UAV (100) and the remote controller (930). In other embodiments, data may be transmitted between the UAV (100) and the remote controller (930) via the at least one remotely accessible server (920).

[0279] The at least one remotely accessible server (920) can be any appropriate server computer, distributed server computer, cloud-based server computer, server computer cluster or the like. The server (920) includes one or more processors and one or more memory units containing executable instructions/software to be executed by the one or more processors.

[0280] The communications transmitted between the UAV (100) and the server (920) and/or the remote controller (930) include imaging data, positional, velocity and altitude data, target information data, and command data, including flight command data and weapons system command data.

[0281] Flight command data may include, but not be limited to, altitude, forward acceleration, rear acceleration, roll angle, pitch angle and/or yaw angle commands. Additionally, the flight command data may include selecting flight mode, i.e., hover mode, tilting hover mode and/or forward flight mode.

[0282] However, as indicated above, when not being operated by the remote controller (930), the UAV (100) can be operated with varying degrees of autonomy ranging from fully autonomous to intermittently autonomous via the on board flight and targeting controller (150; not shown).

[0283] Weapons system command data may include, but not be limited to, on/off, aiming the camera (420; not shown), aiming the range finder, aiming the at least one projectile and/or firing commands. Additionally, the weapons system command data can include selecting the at least one projectile and/or re-load commands.

[0284] As indicated, the flight and targeting controller (150; not shown) of the UAV (100) is configured to aim the UAV (100) and/or the weapons system in response to receiving target information data.

[0285] In some embodiments, the UAV (100) can autonomously collect the target information data, for example via the camera (420; not shown). In other embodiments, the target information data is provided by the remote controller (930). The target information data includes target type data, target location data, and/or armed status data, i.e., whether or not the target is armed.

[0286] The target type data includes whether the target is a live target, such as, e.g., a human or group of humans, or a non-live target, such as, e.g., a buildings or structure.

[0287] The target location data includes data as to the target's location relative to the UAV or relative to a common point, preferably in North east down (“NED”) coordinates.

[0288] The armed status data includes information as to the type of weapon that the target is carrying, e.g., knife, gun, AK-47, M16, etc.

[0289] The remote controller (930) is in the form of a laptop computing device including a display for displaying imaging data, positional, velocity and altitude data, target information data, and command data, including flight command data and weapons system command data. The armed control system (900) includes software configured to be run on the laptop computing device and/or the remotely accessible server. The software is interactive and allows the operative (910) to interact and control the UAV (100).

[0290] Referring briefly to FIG. 10, the software of the remote controller (930) can display imaging data (1010) collected by the camera (420; not shown) of the UAV (100; not shown) in real-time. The display can also display satellite image data (1020) annotated with a location of the UAV (100) and/or the target (940) as shown by the dot on the map in FIG. 9. In use, the operative (910; not shown) can interact with the data displayed to determine a distance between the UAV (100) and the target (940) or order the UAV (100) to determine the range to target with the range finder.

[0291] The image data of a target (940) displayed can also be annotated with target information data, such as, e.g., circular error probable (“CEP”; 1030), an effective firing range (“EFR”), an effective casualty radius (“ECR”), and/or a collateral damage estimation (“CDE”; 1040). Typically, such target information data is displayed when the operative (910; not shown) selects or clicks on the target (940) displayed.

[0292] The operative (910; not shown) can also interact with the data displayed on the display. For example, the operative (910; not shown) can pan, tilt, zoom the camera (420; not shown) of the UAV (100) to alter the data displayed.

[0293] The software also displays a representation (1050) of the UAV (100) annotated with an indication of the flight mode selected, including the pitch angle and the average deflection angle of the side rotors (126; not shown). A slider is provided with the representation, which the operative (910; not shown) can interact with to alter flight parameters of the UAV (100), such as, e.g., the pitch angle.

[0294] Referring back to FIG. 9, the remote controller (930) enables the operative (910) to toggle the weapons system of the UAV (100) between active and inactive modes.

[0295] The remote controller (930) enables the operative (910) to issue a fire command to the UAV (100), when the weapons system is active.

[0296] The remote controller (930) enables the operative (910) to select from a range of projectiles carried by the UAV (100).

[0297] The remote controller (930) enables the operative (910) to toggle between fight modes of the UAV (100).

[0298] A method (1100) of using the system (900) as shown in FIG. 9 is now described in detail with reference to FIG. 11.

[0299] At step 1110, the operative (910) identifies a target (940) and determines target information. The target (940) can be identified via the camera (420; not shown) of the UAV (100) or via an external source. Again, the target information can be supplied via the external source or can be determined by the UAV (100) capturing imaging data of the target (940). The target information includes at least a location of the target (940) relative to the UAV (100). This may be determined by positional data, such as, e.g., GNSS satellite imagery, or by a range finder carried by the UAV (100).

[0300] At step 1120, the flight and targeting controller (150; not shown) of the UAV (100), determines based on the target information determined, at least a pitch angle and yaw angle to strike the target (940) with a projectile carried by the UAV (100).

[0301] At step 1130, the UAV (100) moves based on the pitch angle and the yaw angle determined to aim the projectile at the target (940). In some embodiments, the flight and targeting controller (150; not shown) of the UAV (100) further moves the barrel (130; not visible) of the UAV (100) independent of the UAV (100) based on the pitch angle and the yaw angle determined to aim the projectile at the target (940).

[0302] At step 1140, the operative (910) transmits a firing command to the UAV (100) via the remote controller (930), which is transmitted either directly or via the remotely accessible server (920), to the UAV (100). Upon receiving the firing command, the flight and targeting controller (150; not shown) of the UAV (100) triggers a firing mechanism associated with the weapons system to trigger the deployment of the projectile at the target (940).

[0303] In the present specification and claims (if any), the word “comprising” and its derivatives including “comprises” and “comprise” include each of the stated integers but does not exclude the inclusion of one or more further integers.

[0304] Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more combinations.

[0305] In compliance with the statute, the invention has been described in language more or less specific to structural or methodical features. It is to be understood that the invention is not limited to specific features shown or described since the means herein described comprises preferred forms of putting the invention into effect. The invention is, therefore, claimed in any of its forms or modifications within the proper scope of the appended claims (if any) appropriately interpreted by those skilled in the art.