Mine Clearing Apparatus

Abstract

A mine clearing apparatus for a vehicle is provided. The mine clearing apparatus comprises a skid arrangement and an arm. The skid arrangement is for sliding along ground while applying pressure to the ground in order to trigger detonation of mines in the ground. The skid arrangement has a plurality of apertures therein to enable gas and/or ejecta, generated by a mine detonation triggered by the skid arrangement, to pass through the skid arrangement. The arm is for coupling the skid arrangement to the vehicle and for causing the skid arrangement to apply pressure to the ground in order to trigger detonation of mines in the ground.

Claims

1. A mine clearing apparatus for a vehicle, the mine clearing apparatus comprising: a skid arrangement for sliding along ground while applying pressure to the ground in order to trigger detonation of mines in the ground, the skid arrangement having a plurality of apertures therein to enable gas and/or ejecta, generated by a mine detonation triggered by the skid arrangement, to pass through the skid arrangement; and an arm for coupling the skid arrangement to the vehicle and for causing the skid arrangement to apply pressure to the ground in order to trigger detonation of mines in the ground.

2. The mine clearing apparatus of claim 1, wherein at least some of the apertures increase in size in a length and/or width dimension as the aperture extends in a depth dimension away from the ground.

3. The mine clearing apparatus of claim 1, wherein the skid arrangement comprises a plurality of elongate skids arranged to slide along and apply pressure to the ground, in order to trigger detonation of mines in the ground.

4. The mine clearing apparatus of claim 3, wherein each of the elongate skids is elongate in a length dimension that is aligned with a length dimension of the vehicle when the arm couples the skid arrangement to the vehicle.

5. The mine clearing apparatus of claim 3, wherein at least some of the plurality of apertures are located between adjacent skids.

6. The mine clearing apparatus of claim 3, further comprising one or more connectors arranged to connect adjacent elongate skids, of the plurality of elongate skids, in a spaced configuration such that at least one aperture, of the plurality of apertures, is present between adjacent pairs of elongate skids.

7. The mine clearing apparatus of claim 6, wherein the one or more connectors are arranged to space adjacent elongate skids from each other in a width dimension that is aligned with a width dimension of the vehicle when the arm couples the skid arrangement to the vehicle.

8. The mine clearing apparatus of claim 6, wherein when the one or more connectors are arranged such that when the plurality of elongate skids contact the ground, the one or more connectors are spaced from the ground.

9. The mine clearing apparatus of claim 3, wherein a thickness of each elongate skid is tapered.

10. The mine clearing apparatus of claim 9, wherein the thickness of each elongate skid is tapered, such that the thickness reduces in a depth dimension in a direction away from the ground.

11. The mine clearing apparatus of claim 3, wherein at least a portion of an underside of one or more of the plurality of elongate skids is curved.

12. The mine clearing apparatus of claim 1, wherein the arm comprises one or more apertures arranged to enable gas and/or ejecta, generated by a mine detonation explosion triggered by the skid arrangement, to pass through the arm.

13. The mine clearing apparatus of claim 1, wherein the arm is a fluid powered arm that is configured to apply ground-wards pressure to the skid arrangement.

14. The mine clearing apparatus of claim 13, further comprising at least one fluid powered actuator configured to apply ground-wards pressure to the arm in order to cause the arm to apply pressure to apply ground-wards pressure to the skid arrangement.

15. The mine clearing apparatus of claim 14, wherein the at least one fluid powered actuator is a hydraulic or pneumatic actuator.

16. A vehicle comprising the mine clearing arrangement of claim 1.

17. The vehicle of claim 16, wherein a proximal end of the arm is coupled to a front of a body of the vehicle.

18. The vehicle of claim 17, the proximal end of the arm is pivotally coupled to the front of the body of the vehicle and a distal end of the arm is coupled to the skid arrangement.

19. A mine clearing apparatus for a vehicle, comprising: a plurality of interconnected elongate skids for sliding along ground and applying pressure to the ground in order to trigger detonation of mines in the ground, wherein the plurality of interconnected elongate skids are configured to enable gas, generated by a mine detonation triggered by the skid arrangement, to pass between the interconnected elongate skids; and an arm for coupling the plurality of interconnected elongate skids to the vehicle and for causing the skid arrangement to apply pressure to the ground in order to trigger detonation of mines in the ground.

20. A vehicle, comprising: a plurality of interconnected elongate skids for sliding along ground and applying pressure to the ground in order to trigger detonation of mines in the ground, wherein the plurality of interconnected elongate skids are configured to enable gas, generated by a mine detonation triggered by the skid arrangement, to pass between the interconnected elongate skids; and a fluid-powered arm for coupling the plurality of interconnected elongate skids to a front body of the vehicle and for causing the skid arrangement to apply ground-wards pressure to the plurality of interconnected elongate skids in order to trigger detonation of mines in the ground.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Some examples will now be described with reference to the accompanying drawings in which:

[0018] FIG. 1 illustrates a front perspective view of the front of a vehicle comprising a mine clearing apparatus;

[0019] FIGS. 2A, 2B, 2C, 2D and 2E illustrates perspective, plan, front, first cross-sectional and second cross-sectional views of a portion of the mine clearing apparatus, which includes a skid arrangement;

[0020] FIG. 3A illustrates a front view of the vehicle comprising the mine clearing apparatus;

[0021] FIG. 3B illustrates a side view of the mine clearing apparatus; and

[0022] FIG. 3C illustrates a perspective view of the mine clearing apparatus.

[0023] The figures are not necessarily to scale. Certain features and views of the figures can be shown schematically or exaggerated in scale in the interest of clarity and conciseness. For example, the dimensions of some elements in the figures can be exaggerated relative to other elements to aid explication. Similar reference numerals are used in the figures to designate similar features. For clarity, all reference numerals are not necessarily displayed in all figures.

DETAILED DESCRIPTION

[0024] Land may be planted with mines by a military force in order to prevent an opposing military force from crossing the land. Such mines include both surface-scattered and buried anti-personnel mines and anti-vehicle mines. Anti-personnel mines may trigger when a weight of 4 kg-50 kg is sensed. Anti-vehicle mines, such as anti-tank mines, may trigger when a weight of 100 kg or more is sensed.

[0025] The opposing military force may wish to rapidly clear a path through the minefield in order to carry out a military operation. Military demining may involve attempting to trigger mines from a remote position, for example by using a line charge, electromagnetic impulses or mechanical devices such as tillers, flails, or rollers. Alternatively or additionally, mine ploughs may be used, which plough up the earth and push mines aside.

[0026] Embodiments of the invention relate to a mine clearing apparatus for clearing a path through a minefield during a military operation. The mine clearing apparatus may be used by a vehicle to clear a path through the minefield by applying pressure to ground, in order to detonate mines along the path travelled by the vehicle. A long path may be carved out through the minefield, allowing military vehicles and potentially military personnel to travel safely through the minefield.

[0027] The mine clearing apparatus could be provided on a vehicle when the vehicle is originally manufactured, or provided as a kit of parts for retrofitting to an existing vehicle.

[0028] The mine clearing apparatus may be used by an unmanned vehicle or a manned vehicle. The unmanned or manned vehicle may be an armoured vehicle.

[0029] In this specification, the term manned means that the vehicle is configured to carry at least one person. A manned vehicle may or may not have a human driver. If there is a human driver, the manned vehicle might or might not be configured to carry one or more additional person/people, such further crew and/or one or more passengers. The vehicle may have a cabin and/or one or more seats to accommodate a human driver, crew and/or one or more passengers. If the manned vehicle does not have a human driver, the vehicle may operate autonomously or may be remotely controlled. If the manned vehicle is operated autonomously or remotely, it is configured to carry at least one crew member and/or one or more passengers.

[0030] The term unmanned in this specification means that there is no human driver, crew or passengers on-board the mine clearing vehicle. Said differently, the vehicle is configured to operate/travel without a human driver, crew or passengers on-board the vehicle. No provision is made for a human driver, crew or passengers; that is, there is no cabin nor any seats to accommodate a human driver, crew or passengers. The unmanned mine clearing vehicle may be remotely controlled. Alternatively or additionally, the unmanned mine clearing vehicle may be able to operate autonomously.

[0031] FIG. 1 illustrates a front perspective view of the front of a vehicle 100 comprising the mine clearing apparatus 200. The vehicle 100 comprises untracked wheels in this example. Additionally or alternatively, the vehicle 100 may comprise tracked wheels.

[0032] Cartesian co-ordinate axes 80 are illustrated in FIG. 1 and the other FIGS. to enable the reader to orientate the FIGS. relative to each other. Each of the x, y and z axes in the Cartesian co-ordinate axes 80 defines a different spatial dimension. The y-axis extends from the front to the rear of the vehicle 100. The length of the vehicle 100 is aligned with the y-axis. The x-axis extends laterally from one side of the vehicle 100 to the other side of the vehicle 100. The width of the vehicle 100 is aligned with the x-axis. The z-axis extends upwardly from the underside of the vehicle 100 to the top of the vehicle 100. The height of the vehicle is aligned with the z-axis.

[0033] The mine clearing apparatus 200 may comprise at least one skid arrangement 10 and at least one arm 40. The skid arrangement 10 may be configured to slide along ground while applying pressure to the ground, in order to trigger detonation of mines in the ground. The arm 40 couples the skid arrangement 10 to the vehicle 100 and causes the skid arrangement 10 to apply pressure to the ground. This is described in further detail below.

[0034] In the illustrated example, a plurality of skid arrangements 10 and plurality of arms 40 are provided. While three arms 40 and three skid arrangements 10 are shown in the FIGS., more or fewer of each may be provided in other examples.

[0035] Each arm 40 is coupled to a body 120 of the vehicle 100. Each arm 40 may be coupled to (e.g., directly connected to) the front of the body 120 of the vehicle 100 as shown in FIG. 1. In some implementations, a proximal end of the arm 40 (that is, the end of the arm 40 that is proximal to the vehicle body 120) may be pivotally coupled to the (front of the) vehicle 100. A hinge 51 provides the pivotal coupling. The arm 40 may be configured to rotate about the hinge 51 relative to the vehicle body 120. In the illustrated example, the axis of rotation about which the arm 40 is configured to rotate is aligned with the x-axis, which, as explained above, is aligned with the width of the vehicle 100.

[0036] Each arm 40 may be considered to a fluid powered arm because fluid may be used to provide pressure to drive each of the arms 40 towards the ground. The force that is generated by each of the arms 40 is, in operation, greater than the force generated by the gravitational weight of the arms 40 alone. In some examples, the force generated by each of the arms 40 and the skid arrangement 10, including the gravitational force and the force generated by fluid power, is at least 20 kN, possibly 30 kN and preferably at least 50 kN. In some examples, the force generated through fluid power may be adjustable. For example, control circuitry may be provided that is configured to provide outputs to the arm 40 to adjust the force applied by the arm 40 to the ground. The adjustment may be made, for example, to account for ground conditions (e.g. whether the ground is hard or soft). The control circuitry may receive inputs locally within the vehicle (e.g., from an input device within the vehicle 100 that is controlled by a human if the vehicle 100 is manned) and/or from a remote input device via a receiver (such as a radio receiver, laser system, or trailed cable) if the vehicle 100 is remotely controllable.

[0037] Each fluid powered arm 40 could be a pneumatically powered arm or a hydraulically powered arm. The fluid power may be provided at least one fluid powered actuator 60 such as at least one pneumatic or hydraulic piston/cylinder/ram. That is, the vehicle 100 may comprise a fluid powered piston/cylinder/ram, for each arm 40, that is for driving a distal end of the arm 40 towards ground. The distal end of the arm 40 is considered to be the end of the arm 40 that is furthest from the body 120 of the vehicle 100, and is coupled to (e.g., directly connected to) the skid arrangement 10.

[0038] A first end of the fluid powered actuator 60 may be coupled to (e.g., directly connected to) the vehicle body 120 (such as the front of the body 120) and a second end may be coupled to (e.g., directly connected to) a portion of the arm 40. One or both of the ends may be pivotally coupled.

[0039] In the illustrated example, a hinge 52 is provided on the vehicle body 120 to enable the first end of the fluid powered actuator 60 to rotate relative to the vehicle body 120. In the illustrated example, the axis of rotation about which the fluid powered actuator 60 is configured to rotate is aligned with the x-axis, which, as explained above, is aligned with a width of the vehicle 100. A hinge 53 is provided on the arm 40 to enable the arm 40 to rotate relative to the second end of the fluid powered actuator 60. In the illustrated example, the axis of rotation about which the arm 40 is configured to rotate is aligned with the x-axis, which, as explained above, is aligned with the width of the vehicle 100.

[0040] Each of the hinges 51, 52, 53 provides an independent pivotal connection. The axes of rotation provided by the hinges 51, 52, 53 are parallel to each other but not co-incident with each other.

[0041] In the illustrated example, as each arm 40 extends outwardly from the front of vehicle body 120, the arm 40 also extends upwardly initially, and downwardly thereafter while continuing to extend outwardly. Each arm 40 may substantially define a V-shape (in a plane defined by the y and z axes), as shown in FIG. 1. The V-shape is upside down. The second end of the fluid powered actuator 60 may be connected to an apex of the arm 40.

[0042] Each arm 40 may be shaped such that, when the arm 40 is coupled to the front of the vehicle body 120, the skid arrangement 10 is able to rest on the ground in the absence of a downwards force being applied to the skid arrangement 10 by the arm 40.

[0043] In the illustrated example, left, right and central arms 40 are provided, with the central arm extending from the vehicle body 120 beyond the right and left arms 40. In other examples, however, this might not be the case. The central arm 40 may be in line with the left and right arms 40 in the y-dimension, or behind the right and left arms 40 in the y-dimension.

[0044] Each arm 40 may comprise one or more apertures 41, 42 that are arranged to enable gas and/or ejecta, generated by a mine detonation explosion triggered by the skid arrangement 10, to pass through the arm 40. A least one of the apertures 41, 42 may be located in a portion of the arm 40 that is directly above the skid arrangement 10.

[0045] The skid arrangement 10 is best seen in FIGS. 2A, 2B, 20, 2D and 2E which illustrate perspective, plan, front, first cross-sectional and second cross-sectional views of a portion of the mine clearing apparatus 200. The view in FIG. 2D illustrates a cross-section through a plane defined in the y and z axes, whereas the view in FIG. 2E illustrates a cross-sectional through a plane defined in the x and z axes.

[0046] The skid arrangement 10 has a plurality of apertures 21-26, 31-36, 61-66 therein to enable gas and/or ejecta, generated by a mine detonation, triggered by the skid arrangement 10, to pass through the skid arrangement 10. In the illustrated example, the skid arrangement 10 comprises a plurality of individual, elongate, skids 11-17 that are arranged to slide along and apply pressure to the ground, in order to trigger detonation of mines in the ground. The apertures 21-26, 31-36, 61-66 are located between adjacent skids 11-17.

[0047] Each of the illustrated individual skids 11-17 is elongate in the y-dimension, which is aligned with a length dimension of the vehicle 100. That is, the extent of each of the individual skids 11-17 is (much) greater in the y-dimension than in the x-dimension. Each of the individual skids 11-17 may, for example, have an extent in the y-dimension that is at least five times longer, at least eight times longer or at least ten times greater than its extent in the x-dimension and/or the z-dimension. For example, the extent of each individual skid 11-17 in the y-dimension might be in the range 100 mm to 1000 mm, possibly in the range 150 mm to 800 mm and preferably in the range 200 mm to 550 mm. The maximum thickness/width of each individual skid 11-17 in the x-dimension might be in the range 25 mm to 200 mm, possibly in the range 30 mm to 150 mm and preferably in the range 40 mm to 125 mm. The maximum height of each individual skid 11-17 in the z-dimension might be in the range 100 mm to 500 mm, possibly in the range 150 mm to 450 mm and preferably in the range 250 mm to 400 mm. Each range or value in this paragraph may be combined with any of the other ranges and values in this paragraph.

[0048] The individual skids 11-17 are interconnected by one or more connectors 19, 20. In the illustrated example, a first plurality of connectors 19 and a second plurality of connectors 20 is provided, where the first plurality of connectors 19 and the second plurality of connectors 20 are spaced from one another in the y dimension.

[0049] The skids 11-17 and the connector(s) 19, 20 may be integrally formed (e.g., machined out of single block of material, where the material is formed from one or more metals). The one or more connectors 19, 20 connect adjacent skids 11-17 in a spaced configuration, such that at least one aperture 21-26, 31-36, 61-66 is present between adjacent skids 11-17. In the illustrated example, there is more than one aperture 21-26, 31-36, 61-66 present between adjacent skids 11-17. The positioning of the connectors 19-20 is such that three apertures 21-26, 31-36, 61-66 are located between adjacent skids 11-17, where those apertures 21-26, 31-36, 61-66 are spaced from one another in the y dimension. The apertures 21-26, 31-36, 61-66 are arranged in rows and columns in an x-y plane in the illustrated example. There could be more or fewer apertures 21-26, 31-36, 61-66 between adjacent skids 11-17 in other examples.

[0050] The spacing of a skid 11-17 from an adjacent skid 11-17 might be in the range 50 mm to 300 mm possibly in the range 75 mm to 200 mm and preferably in the range 100 mm to 150 mm. The spacing is considered to be the smallest gap between adjacent skids 11-17, as measured from a (side) surface of one skid 11-17 to the closest (side) surface of the closest/adjacent skid 11-17. Each range or value in this paragraph may be combined with any of the other ranges and values in this paragraph and the preceding paragraph. The one or more connectors 19, 20 are arranged to space adjacent skids 11-17 from each other in the x-dimension, which is aligned with the width dimension of the vehicle 100.

[0051] In the illustrated example, the one or more connectors 19, 20 connect each skid 11-17 to an adjacent skid at two locations that are spaced from each other in the y-dimension, although more or fewer connection points could be provided in other examples. In this example, the one or more connectors 19, 20 are arranged such that when the skids 11-17 contact the ground, the one or more connectors 11-17 are spaced from the ground.

[0052] As best seen in FIG. 2C, each skid 11-17 has a tapered profile in a plane defined by the x and z dimensions. That is, the thickness of each skid 11-17 (as measured in the x-dimension) is tapered such that the thickness reduces along in the depth dimension of the skid 11-17 (aligned with z-dimension) in a direction away from ground (i.e., the +z direction). Said differently, each skid 11-17 has angled exterior surfaces that converge as they extend in the depth dimension in a direction away from ground. This means that the size of each of the apertures 21-26 (i.e., the area defined by each of the apertures 21-26) between adjacent skids 11-17 increases along the depth dimension of the skid 11-17 in a direction away from ground.

[0053] Each of the apertures 21-26, 31-36, 61-66 provides a channel for gas that is generated by a mine detonation, triggered by the skid arrangement 10, to escape. Each of those channels may have an increasing cross-sectional area along the depth dimension in a direction away from ground. The shape of these channels provides a Venturi effect such that when gas is generated by a mine detonation and passes through the channels, the expansion of the gas generates a downwards force on the skid arrangement 10, helping to mitigate upwards movement of the skid arrangement 10 following a mine detonation underneath the skid arrangement 10.

[0054] The skid arrangement 10, comprising the set of skids 11-17 interconnected by the one or more connectors 19, 20, may have a maximum extent in the y-dimension that is in the range 100 mm to 1000 mm, possibly in the range 150 mm to 800 mm and preferably in the range 200 mm to 550 mm. The maximum extent of the skid arrangement 10 in the x-dimension might be in the range 25 mm to 200 mm, possibly in the range 30 mm to 150 mm and preferably in the range 40 mm to 125 mm. The maximum height of the skid arrangement in the z-dimension might be in the range 100 mm to 500 mm, possibly in the range 150 mm to 450 mm and preferably in the range 250 mm to 400 mm1 Each range or value in this paragraph may be combined with any of the other ranges and values in this paragraph.

[0055] It was explained above while three arms 40 and three skid arrangements 10 are shown in the FIGS., more or fewer of each may be provided in other examples. The arm(s) 40 and skid arrangement(s) 10 provided may be configured to apply pressure to ground in front of and across substantially the whole width of the vehicle 100. This helps to ensure that mines which are encountered by the vehicle 100 are detonated in response to pressure applied to the ground by the arm(s) 40 and the skid arrangement(s) 10, rather than, for example, being first encountered by the wheels of the vehicle 100. Where multiple skid arrangements 10 are provided, the spacing between adjacent skid arrangements 10 in the x dimension (which is aligned with the width of the vehicle 100) may be less than 250 mm, possibly less than 200 mm and preferably less than 100 mm.

[0056] FIG. 3A illustrates a front view of the vehicle 100 comprising the mine clearing apparatus 200. FIG. 3B illustrates a side view of the mine clearing apparatus. FIG. 3C illustrates a perspective view of the mine clearing apparatus.

[0057] As best seen in FIG. 3C, at least a portion of the underside of each skid 11-17 may be curved. The curved portion may include at least one of a leading edge or a trailing edge of the skid 11-17. In the illustrated example, both the leading edge and the trailing edge of each skid 11-17 is curved. The leading edge is considered to be the portion of the skid 11-17 that is frontmost in a plane defined by the y and z dimensions. The trailing edge is considered to the portion of the skid 11-17 that is rearmost in a plane defined by the y and z dimensions.

[0058] In operation, a minefield is identified in which mine removal is desired. The vehicle 100 travels along a path in the minefield to intentionally detonate (and thereby remove) mines. When the vehicle 100 travels along the path, the arm 40 coupling the skid arrangement 10 to the vehicle 100 causes the skid arrangement 10 to apply pressure to the ground.

[0059] The skid arrangement 10 contacts ground while the vehicle 100 is moving along the path, but does not penetrate the ground (at least, not to any significant event). The skid arrangement 10 does not dig into nor plough the ground. As mentioned above, the arm 40 may be fluid powered and may apply a force to the skid arrangement 10 which exceeds the gravitational weight of the arm 40. The skid arrangement 10, in turn, applies that force to the ground.

[0060] When the skid arrangement 10 encounters a mine, the force being applied to the ground where the mine is located causes the mine to detonate. As the skid arrangement 10 is located in front of and spaced from the vehicle body 120, the mine is detonated in front of and spaced from the vehicle body 120. Upon detonation of the mine, the force as a result of the detonation applies an upward impulse to the skid arrangement 10, which is transmitted through the arm 40. The upwards movement of the skid arrangement 10 is mitigated, to some extent, by the ground-wards force being applied to the skid arrangement 10 by the arm 40. The arm 40 may rotate about the hinges 51, 53 in response to the upward impulse. The fluid powered actuator 60 may rotate about the hinge 52 in response to the upward impulse.

[0061] The detonation of the mine causes high pressure gas to be generated, which is the source of much of the upwards impulse generated by the mine. At least some of this upwards gas may pass through the apertures 21-26, 31-36, 61-66 in the skid arrangement 10, mitigating its effect to some extent, and, as explained above, a Venturi effect caused by the tapered skids 11-17 may cause the gas to apply an opposing downwards force to the skid arrangement 10.

[0062] Once the downwards force applied by the skid arrangement 10 and the arm 40 exceeds the upwards force from the impulse generated by the detonation, the skid arrangement 10 moves back down to the ground. The vehicle 100 then continues along the path in the minefield. In some embodiments, the vehicle 100 may be controlled to stop when a detonation occurs, to ensure that the vehicle 100 does not travel along the path without the skid arrangement 10 being in contact with the ground. In such embodiments, the vehicle 100 may include one or more detectors to detect when a mine detonation has occurred and control circuitry that is configured to receive inputs from the one or more detectors, analyse the inputs and control the vehicle 100 to stop, at least for a period of time, if a determination is made that a mine detonation has occurred. The one or more detectors may, for example, include one or more pressure detectors, one or more temperature detectors and/or one or more light detectors.

[0063] The control circuitry may cause or enable (forwards) movement of the vehicle 100 to recommence after the period of time has expired. Alternatively, one or more detectors may be provided for determining when the skid arrangement 10 contacts ground, and the control circuitry may cause or enable (forwards) movement of the vehicle 100 to recommence after determining, based on one or more inputs from that/those detectors, that the skid arrangement 10 has (re) contacted ground. The one or more detectors may include one or more cameras, and/or, alternatively or additionally, one or more detectors arranged to sense the rotational position of the arm 40 and/or the actuator 60 about the hinges 51, 52, 53.

[0064] The skid arrangement 10 and the arm 40 are intended to survive many explosive events, advantageously enabling the vehicle 100 to successfully carve out a long path in a minefield.

[0065] Where a structural feature has been described, it may be replaced by means for performing one or more of the functions of the structural feature whether that function or those functions are explicitly or implicitly described.

[0066] The term comprise is used in this document with an inclusive not an exclusive meaning. That is any reference to X comprising Y indicates that X may comprise only one Y or may comprise more than one Y. If it is intended to use comprise with an exclusive meaning then it will be made clear in the context by referring to comprising only one . . . or by using consisting.

[0067] In this description, the wording connect, couple and communication and their derivatives mean operationally connected/coupled/in communication. It should be appreciated that any number or combination of intervening components can exist (including no intervening components), i.e., to provide direct or indirect connection/coupling/communication.

[0068] As used herein, the term determine/determining (and grammatical variants thereof) can include, not least: calculating, computing, processing, deriving, measuring, investigating, identifying, looking up (for example, looking up in a table, a database, or another data structure), ascertaining and the like. Also, determining can include receiving (for example, receiving information), accessing (for example, accessing data in a memory), obtaining and the like.

[0069] In this description, reference has been made to various examples. The description of features or functions in relation to an example indicates that those features or functions are present in that example. The use of the term example or for example or can or may in the text denotes, whether explicitly stated or not, that such features or functions are present in at least the described example, whether described as an example or not, and that they can be, but are not necessarily, present in some of or all other examples. Thus example, for example, can, or may refers to a particular instance in a class of examples. A property of the instance can be a property of only that instance or a property of the class or a property of a sub-class of the class that includes some but not all the instances in the class. It is therefore implicitly disclosed that a feature described with reference to one example but not with reference to another example, can where possible be used in that other example as part of a working combination but does not necessarily have to be used in that other example.

[0070] Although examples have been described in the preceding paragraphs with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the claims.

[0071] Features described in the preceding description may be used in combinations other than the combinations explicitly described above.

[0072] Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not.

[0073] The description of a feature, such as an apparatus or a component of an apparatus, configured to perform a function, or for performing a function, should additionally be considered to also disclose a method of performing that function. For example, description of an apparatus configured to perform one or more actions, or for performing one or more actions, should additionally be considered to disclose a method of performing those one or more actions with or without the apparatus.

[0074] Although features have been described with reference to certain examples, those features may also be present in other examples whether described or not.

[0075] The term a, an or the is used in this document with an inclusive not an exclusive meaning. That is any reference to X comprising a/an/the Y indicates that X may comprise only one Y or may comprise more than one Y unless the context clearly indicates the contrary. If it is intended to use a, an or the with an exclusive meaning then it will be made clear in the context. In some circumstances the use of at least one or one or more may be used to emphasis an inclusive meaning but the absence of these terms should not be taken to infer any exclusive meaning.

[0076] The presence of a feature (or combination of features) in a claim is a reference to that feature or (combination of features) itself and to features that achieve substantially the same technical effect (equivalent features). The equivalent features include, for example, features that are variants and achieve substantially the same result in substantially the same way. The equivalent features include, for example, features that perform substantially the same function, in substantially the same way to achieve substantially the same result.

[0077] In this description, reference has been made to various examples using adjectives or adjectival phrases to describe characteristics of the examples. Such a description of a characteristic in relation to an example indicates that the characteristic is present in some examples exactly as described and is present in other examples substantially as described.

[0078] The above description describes some examples of the present disclosure however those of ordinary skill in the art will be aware of possible alternative structures and method features which offer equivalent functionality to the specific examples of such structures and features described herein above and which for the sake of brevity and clarity have been omitted from the above description. Nonetheless, the above description should be read as implicitly including reference to such alternative structures and method features which provide equivalent functionality unless such alternative structures or method features are explicitly excluded in the above description of the examples of the present disclosure.

[0079] Whilst endeavouring in the foregoing specification to draw attention to those features believed to be of importance the applicant may seek protection via the claims in respect of any patentable feature or combination of features hereinbefore referred to and/or shown in the drawings whether or not emphasis has been placed thereon.