Note: Descriptions are shown in the official language in which they were submitted.
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Description
MODE SELECTION FOR AN OPERATOR CONTROL
Technical Field
The present disclosure relates generally to an implement control
5 system and, for example, to mode selection for an operator control.
Background
Compact construction machines (for example, skid steer loaders or
compact track loaders) are commonly used where working space is limited.
These machines may include a bucket attachment for applications ranging from
10 asphalt milling to earth moving. For certain applications, the bucket
attachment
of a machine may be replaced with another work implement, such as a dozer
blade attachment. While operator controls for the machine may be suitable for
controlling the bucket attachment, in some applications, it may be difficult
to
control the dozer blade attachment using the operator controls. For example,
it
15 may be difficult to control the dozer blade attachment for applications
such as
spreading piles, rough grading, or fine grading.
U.S. Patent No. 5,799,737 (the '737 patent) to Kamikawa et al.
discloses a blade apparatus and a control method in a bulldozer such that the
blade can be operated in lift, tilt, and pitch modes. The '737 patent
indicates that
20 a knob of a control lever is provided with a tilt/pitch changeover
switch for
changing over from a tilt mode to a pitch mode or vice versa, and a pitch
speed
changeover switch. The '737 patent also indicates that any of three working
postures, i.e., a digging posture, an earth-moving posture, and an earth-
dumping
posture, can be selected in accordance with a combination of the position of
the
25 control lever and the positions of the two changeover switches, so that
an
operator can vary the working posture during operation.
While the '737 patent provides for operation of a blade using
different modes, the '737 patent does not address the difficulty associated
with
controlling a dozer blade attachment using the operator controls of a compact
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construction machine. In particular, it may be advantageous to selectively
operate different actuators of a machine using the same set of joystick
patterns to
thereby simplify control of the dozer blade attachment.
The implement control system of the present disclosure solves one
5 or more of the problems set forth above and/or other problems in the art.
Summary
An implement control system may include one or more first
actuators configured to selectively raise or lower a work implement of a
machine;
one or more second actuators configured to tilt the work implement; an
operator
10 control configured for manipulation in one or more motions; and a
controller
configured to, based on a particular motion of the one or more motions,
selectively cause actuation of the one or more first actuators in a first mode
or the
one or more second actuators in a second mode.
A machine may include a lift arm for a work implement; one or
15 more first actuators configured to provide movement of the lift arm; one
or more
second actuators configured to provide movement of the work implement; and an
operator control configured for manipulation in one or more motions, a
particular
motion of the one or more motions selectively controlling actuation of the one
or
more first actuators or the one or more second actuators.
20 A method may include receiving, by a controller and from an
operator control of a machine, a movement comm and associated with a motion of
the operator control; determining, by the controller, whether to cause
actuation of
one or more first actuators of the machine or one or more second actuators of
the
machine in response to the movement command, and selectively causing, by the
25 controller, actuation of the one or more first actuators or the one or
more second
actuators in response to the movement command.
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Brief Description of The Drawings
Fig. 1 is a diagram of an example machine described herein.
Fig. 2 is a diagram of an example implement control system
described herein.
5 Fig. 3 is a flowchart of an example process relating to mode
selection for an operator control.
Detailed Description
Fig. 1 is a diagram of an example machine 10. Machine 10 may
perform earth moving, excavation, or another operation associated with an
10 industry
such as construction or mining, among other examples. For example, as
illustrated in Fig. 1, machine 10 is a compact track loader. However, machine
10
may be, for example, an excavator, a paver, a dozer, a skid steer loader, a
multi-
terrain loader, or a compact wheel loader, among other examples. Machine 10
includes machine frame 12, undercarriage 14, work tool assembly 16, engine 18,
15 and
operator station 20. Machine 10 may be an autonomous machine, which can
operate without the need for an operator to be present on machine 10. Machine
may be remotely controllable by an operator located off board machine 10.
Machine frame 12 extends from front end 22 to rear end 24 of
machine 10. Machine frame 12 is supported on ground surface 26 by
20 undercarriage 14, which is used to propel machine 10 in a forward or
rearward
direction (e.g., along arrow A). A suspension system (not shown) may be
disposed between machine frame 12 and undercarriage 14. The suspension
system includes, for example, one or more of springs, dampers, shock
absorbers,
or other suspension components.
25
Undercarriage 14 is configured to engage ground surface 26, such
as a road or another type of terrain. Undercarriage 14 includes a pair of
endless
tracks 28 (only one track shown in Fig. 1) supported by one or more rollers
32.
Undercarriage 14 also includes sprockets 34 that may be driven by engine 18.
Rotation of sprockets 34 causes tracks 28 to propel machine 10 in the forward
or
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rearward direction. Although machine 10 has been illustrated as having tracks
28, undercarriage 14 of machine 10 may instead include a plurality of wheels
for
propelling machine 10 in a forward or rearward direction. For example,
undercarriage 14 of machine 10 may include a pair of front wheels disposed
5 adjacent front end 22 of machine frame 12, and a pair of rear wheels
disposed
adjacent rear end 24 of machine frame 12.
Work tool assembly 16 may include lift arms 36, work implement
38, lift actuators 40, and tilt actuators 42. Lift arms 36 may extend from
adjacent
rear end 24 toward front end 22 of machine frame 12. Lift arms 36 may be
10 pivotably connected to machine frame 12 at loader joints adjacent rear
end 24 of
machine frame 12. Work tool assembly 16 may be connected to and supported
by machine frame 12. One or more linkages (not shown) may be disposed
between lift arms 36 and machine frame 12, and the one or more linkages may
connect lift arms 36 to machine frame 12. Work implement 38 may be pivotably
15 attached to lift arms 36 at tool joints adjacent front end 22. One or
more linkages
(not shown) may be disposed between work implement 38 and lift arms 36, and
the one or more linkages may connect work implement 38 to lift arms 36. Loader
joints and tool joints may be pin joints that respectively allow lift arms 36
and
work implement 38 to pivot, thereby permitting control of lift and tilt (e.g.,
fore
20 and aft tilt) of the work implement 38. Although two lift arms 36 have
been
illustrated in Fig. 1, machine 10 may have any number of lift arms 36.
As shown in Fig. 1, work implement 38 may be a bucket, which
may be a standard work implement for the compact track loader (or a skid steer
loader) illustrated in Fig 1. The bucket may be removable from a linkage (as
25 described above), and replaced with another work implement. For example,
work implement 38 may be a blade 44 (e.g., a dozer blade), which is connected
to
the linkage after removal of the bucket. The blade 44 includes a moldboard 46
and a cutting edge 48 configured to engage with ground surface 26. In some
implementations, work implement 38 may be a shovel, a box blade, or another
30 type of work implement or tool suitable for use with machine 10.
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As shown in Fig. 1, work tool assembly 16 includes lift actuators
40 (e.g., first actuators), which pivotably connect between machine frame 12
and
lift arms 36. Selectively extending or retracting lift actuators 40
respectively
raises or lowers lift arms 36, and consequently raises or lowers work
implement
5 38 relative to machine frame 12 and ground surface 26 (e.g., along arrow
B).
Work tool assembly 16 also includes tilt actuators 42 (e.g., second
actuators),
which pivotably connect between lift arms 36 and work implement 38. In some
implementations, tilt actuators 42 pivotably connect between lift arms 36 and
a
linkage (as described above) for attachment of work implement 38 to machine
10.
10 Selectively extending or retracting tilt actuators 42 rotates work
implement 38
relative to lift arms 36 (e.g., along arrow C). For example, selectively
extending
or retracting tilt actuators 42 may cause fore or aft tilt, relative to a
forward or a
rearward direction of travel of machine 10 (e.g., relative to arrow A), of
work
implement 38. Thus, adjusting lift actuators 40 and/or tilt actuators 42 may
15 change an inclination or angle of attack of work implement 38 relative
to ground
surface 26.
Lift actuators 40 and tilt actuators 42 may be hydraulic actuators
(e.g., hydraulic cylinders, such as piston-cylinder units). In some examples,
lift
actuators 40 and tilt actuators 42 may be pneumatic actuators or other types
of
20 actuators. Lift actuators 40 and tilt actuators 42 may be controlled via
separate
supply lines (e.g., separate hydraulic or pneumatic supply lines), such that
actuation of the lift actuators 40 and the tilt actuators 42 is separately
controlled.
Although two lift actuators 40 and two tilt actuators 42 are illustrated in
Fig 1,
work tool assembly 16 may include any number of lift actuators 40 and tilt
25 actuators 42. For example, work tool assembly 16 may include one or more
lift
actuators 40 and one or more tilt actuators 42.
Engine 18 is supported by machine frame 12 and is configured to
generate a power output that can be directed through sprockets 34 and tracks
28
to propel machine 10 in a forward or rearward direction (e.g., along arrow A).
30 Engine 18 may be any suitable type of internal combustion engine, such
as a
compression-ignition engine, a spark-ignition engine, a natural gas or
alternative
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fuel engine, or a hybrid-powered engine, among other examples. In some
implementations, engine 18 may be driven by electrical power.
Engine 18 is configured to deliver power output to sprockets 34.
Additionally, or alternatively, engine 18 may be configured to deliver power
5 output to a generator, which in turn drives one or more electric motors
coupled to
sprockets 34. Additionally, or alternatively, engine 18 may be configured to
deliver power output to a hydraulic motor fluidly coupled to a hydraulic pump
and configured to convert a fluid pressurized by the hydraulic pump into a
torque
output, which is directed to sprockets 34. Engine 18 also is configured to
provide
10 power to move work tool assembly 16. For example, engine 18 may provide
power to one or more hydraulic pumps that provide pressurized fluid to one or
more of lift actuators 40 and/or tilt actuators 42 to move work implement 38.
Operator station 20 is supported on machine frame 12. Operator
station 20 may be an open or an enclosed compartment. Operator station 20
15 includes operator control 50. Operator control 50 includes an input
device for
operating and/or driving machine 10. Operator control 50 is configured for
manipulation (e.g., by an operator) in one or more motions (e.g., a forward
motion, a rearward motion, a leftward motion, a rightward motion, and/or
motions therebetween). A particular motion performed by operator control 50
20 may selectively control actuation of the lift actuators 40 or the tilt
actuators 42, as
described below. Operator control 50 may be a joystick (e.g., a single-axis
joystick or a multiple-axis joystick), alever, or a knob, among other
examples.
Operator station 20 may include one or more additional operator controls for
performing other operations of machine 10.
25 Furthermore, operator station 20 may include one or more
additional controls for selecting operations and/or operating modes of the
machine 10. For example, operator station 20 may include a selector input
(shown in Fig. 2 as a selector input 54) for selecting between different
operating
modes of the machine 10. As an example, the selector input may be one or more
30 buttons, switches, and/or toggles, among other examples. For example,
the
selector input may be one or more buttons on a joystick used for operator
control
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50. The selector input is configured to toggle operator control 50 between a
lift
mode (e.g., a first mode), in which operator control 50 controls lift
actuators 40,
and a tilt mode (e.g., a second mode) in which operator control 50 controls
tilt
actuators 42. In addition, operator station 20 may include one or more display
5 devices (e.g., touch screen devices) for conveying information to an
operator
and/or providing a user interface for the operator. In some implementations,
the
selector input may be one or more selectable icons of the one or more display
devices.
In some implementations, one or more of the controls of operator
10 station 20, described above, may be remotely located from machine 10
(e.g.,
machine 10 may not include operator station 20). For example, operator control
50 and/or the selector input may be remotely located from machine 10 and may
provide remote control of machine 10 via a wired or wireless connection.
As shown in Fig. 1, the operator station 20 may include a
15 controller 52 (e.g., an electronic control module (ECM)). However,
controller 52
may be located at another part of machine 10 or may be located remotely from
machine 10. Controller 52 may include one or more memories and/or one or
more processors that implement operations associated with mode selection for
operator control 50, as described in connection with Fig. 2. For example,
20 controller 52 may be configured to receive a movement command associated
with
a motion of operator control 50, determine whether to cause actuation of lift
actuators 40 or tilt actuators 42 in response to the movement command, and
selectively cause actuation of lift actuators 40 or tilt actuators 42 in
response to
the movement command.
25 As indicated above, Fig. 1 is provided as an example. Other
examples may differ from what is described with regard to Fig. 1.
Fig. 2 is a diagram of an example implement control system 200.
As shown, the implement control system 200 includes controller 52, one or more
lift actuators 40 (e.g., one or more first actuators configured to provide
movement
30 of lift arm(s) 36 to selectively raise or lower work implement 38), one
or more tilt
actuators 42 (e.g., one or more second actuators configured to provide
movement
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of work implement 38 to tilt work implement 38), operator control 50, and/or
selector input 54. Implement control system 200, in response to the same
motion
of operator control 50, may provide selective actuation of lift actuators 40
or tilt
actuators 42 based on whether a lift mode (e.g., a first mode) or a tilt mode
(e.g.,
5 a second mode) is selected. In this way, implement control system 200
facilitates
improved control of work implement 38 (e.g., blade 44), such as for spreading
piles or performing grading.
Controller 52 may determine an operating mode for implement
control system 200 (e.g., for machine 10). The operating mode may be the lift
10 mode or the tilt mode. In the lift mode, motions of operator control 50
control
actuation of lift actuators 40, and in the tilt mode, the same motions of
operator
control 50 control actuation of tilt actuators 42. For example, in the lift
mode, a
forward motion of a joystick used for operator control 50 may control
actuation
of lift actuators 40 to lower work implement 38, and a rearward motion of the
15 joystick may control actuation of lift actuators 40 to raise work
implement 38.
Continuing with the previous example, in the tilt mode, the same forward
motion
of the joystick may control actuation of tilt actuators 42 to pitch forward
work
implement 38, and the same rearward motion of the joystick may control
actuation of tilt actuators 42 to pitch rearward work implement 38.
20 Implement control system 200 may include one or more input
devices for controlling tilt operations in the lift mode or for controlling
lift
operations in the tilt mode. For example, the joystick may include (e.g., at a
thumb control portion of the joystick) a first button that controls forward
pitch of
work implement 38, and a second button that controls rearward pitch of work
25 implement 38, in the lift mode. Continuing with the previous example,
the first
button controls lowering work implement 38, and the second button controls
raising work implement 38, in the tilt mode. Thus, a set of controls of
machine
may perform first functions in the lift mode, and the same set of controls may
perform second functions in the tilt mode.
30 Controller 52 may autonomously determine the operating mode
for implement control system 200. That is, controller 52 may determine a
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selection of the lift mode or the tilt mode for implement control system 200.
Controller 52 may determine the operating mode based on information associated
with ground surface 26 (e.g., a detected, or a configured, terrain type of
ground
surface 26), information associated with movements and/or operation of work
5 implement 38 (e.g., a distance between work implement 38 and ground
surface
26, and/or a load on work implement 38, among other examples), information
associated with a type of task being performed, and/or information associated
with a work plan for a task being performed, among other examples. For
example, controller 52 may determine the operating mode based on information
10 received from one or more sensors on machine 10.
Controller 52 may determine to switch from lift mode to tilt mode
based on detecting that lift actuators 40 are fully actuated (e.g., fully
extended or
fully retracted) in connection with moving work implement 38 in a direction
(e.g., raising or lowering) and based on a command to move work implement 38
15 further in the direction. For example, controller 52 may determine to
switch from
lift mode to tilt mode when lift arms 36 are at a lowest allowable position
(e.g.,
the lift arms 36 are abutting lift arm stops and/or lift actuators 40 are
fully
retracted) and an operator is commanding further lowering of work implement
38. Controller 52 may determine to switch from tilt mode to lift mode based on
20 detecting that tilt actuators 42 are fully actuated (e.g., fully
extended or fully
retracted) in connection with moving a bottom edge of work implement 38 in a
direction (e.g., raising or lowering) and based on a command to move work
implement 38 further in the direction For example, controller 52 may determine
to switch from tilt mode to lift mode when work implement 38 is fully pitched
25 rearward and an operator is commanding further raising of work implement
38.
Controller 52 may determine the operating mode for implement
control system 200 based on a user selection. For example, an operator may
select between the lift mode and the tilt mode using selector input 54.
Accordingly, controller 52 may receive the user selection of the lift mode or
the
30 tilt mode from the selector input 54.
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Controller 52 may receive a movement command (e.g., an
electrical signal) from operator control 50. The movement command may be
associated with a particular motion of operator control 50. For example,
controller 52 may receive a first movement command associated with a forward
5 motion of the joystick or a second movement command associated with a
rearward motion of the joystick. Accordingly, the movement command may
indicate a direction of the particular motion of operator control 50, a degree
(e.g.,
a percentage) of the particular motion of operator control 50 in the
direction, or
the like.
10 Controller 52 may determine whether to cause actuation of lift
actuators 40 or tilt actuators 42 in response to the movement command.
Controller 52 may determine whether to cause actuation of lift actuators 40 or
tilt
actuators 42 based on the operating mode (e.g., autonomously determined by the
controller 52 or indicated by a user selection). For example, controller 52
may
15 determine to cause actuation of lift actuators 40 when the operating
mode is the
lift mode. As another example, controller 52 may determine to cause actuation
of
tilt actuators 42 when the operating mode is the tilt mode.
Controller 52 may selectively cause actuation of lift actuators 40
or tilt actuators 42 based on determining whether to cause actuation of lift
20 actuators 40 or tilt actuators 42. That is, controller 52 may
selectively cause
actuation of lift actuators 40 or tilt actuators 42 in response to the
movement
command and based on the operating mode. In the lift mode, controller 52 may
cause actuation of lift actuators 40, and may extend or retract lift actuators
40
based on the movement command (e.g., associated with the particular motion of
25 operator control 50). In the tilt mode, controller 52 may cause
actuation of tilt
actuators 42, and may extend or retract tilt actuators 42 based on the
movement
command (e.g., associated with the particular motion of operator control 50).
For
example, an operator may move the joystick in a particular motion, and the
controller 52 may cause actuation of lift actuators 40 in the lift mode. As
another
30 example, the operator may move the joystick in the same particular
motion, and
the controller 52 may cause actuation of tilt actuators 42 in the tilt mode.
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Lift actuators 40 may be associated with one or more lift actuator
control valves, and tilt actuators 42 may be associated with one or more tilt
actuator control valves. Accordingly, controller 52 may cause actuation of
lift
actuators 40 by controlling (e.g., via electrical signals) the one or more
lift
5 actuator control valves to adjust the flow of, for example, hydraulic
fluid to
control the rate and direction of movement of lift actuators 40. Similarly,
controller 52 may cause actuation of tilt actuators 42 by controlling the one
or
more tilt actuator control valves.
In some implementations, controller 52 may cause actuation of
10 both lift actuators 40 and tilt actuators 42 in unison (e.g., in
tandem). For
example, in the lift mode (or a separate tandem operating mode), lift
actuators 40
may provide primary actuation and tilt actuators 42 may provide secondary
actuation. Accordingly, in response to a particular motion of operator control
50
(e.g., in response to a particular movement command), controller 52 may cause,
15 in tandem, actuation of lift actuators 40, as described above, and
actuation of tilt
actuators 42 to provide additional precision to the movement commanded for
lift
actuators 40. Similarly, in the tilt mode (or a separate tandem operating
mode),
tilt actuators 42 may provide primary actuation and lift actuators 40 may
provide
secondary actuation. Accordingly, in response to a particular motion of
operator
20 control 50 (e.g., in response to a particular movement command),
controller 52
may cause, in tandem, actuation of tilt actuators 42, as described above, and
actuation of lift actuators 40 to provide additional precision to the movement
commanded for tilt actuators 42. Tandem operation of lift actuators 40 and
tilt
actuators 42 may provide control of the speed at which an angle of attack of a
25 cutting edge of implement 38 changes (e.g., primary actuation of tilt
actuators 42
may provide a faster change in the angle of attack relative to primary
actuation of
lift actuators 40).
As indicated above, Fig. 2 is provided as an example. Other
examples may differ from what is described with regard to Fig. 2.
30 Fig. 3 is a flowchart of an example process 300 relating to
mode
selection for an operator control. One or more process blocks of Fig. 3 may be
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performed by a controller (e.g., controller 52). Additionally, or
alternatively, one
or more process blocks of Fig. 3 may be performed by another device or a group
of devices separate from or including the controller, such as another device
or
component that is internal or external to machine 10.
5 As shown in Fig. 3, process 300 may include receiving, from an
operator control of a machine, a movement command associated with a motion of
the operator control (block 310). For example, the controller may receive,
from
an operator control of a machine, a movement command associated with a motion
of the operator control, as described above. The operator control may be a
10 joystick.
As further shown in Fig. 3, process 300 may include determining
whether to cause actuation of one or more first actuators of the machine or
one or
more second actuators of the machine in response to the movement command
(block 320). For example, the controller may determine whether to cause
15 actuation of one or more first actuators of the machine or one or more
second
actuators of the machine in response to the movement command, as described
above.
Determining whether to cause actuation of the one or more first
actuators or the one or more second actuators may be based on whether the
20 machine is operating in a first mode or a second mode. Process 300 may
include
receiving a user selection of a first mode for the machine or a second mode
for
the machine, and determining whether to cause actuation of the one or more
first
actuators or the one or more second actuators is based on the user selection
Process 300 may include determining a selection of a first mode for the
machine
25 or a second mode for the machine, and determining whether to cause
actuation of
the one or more first actuators or the one or more second actuators is based
on the
selection.
As further shown in Fig. 3, process 300 may include selectively
causing actuation of the one or more first actuators or the one or more second
30 actuators in response to the movement command (block 330). For example,
the
controller may selectively cause actuation of the one or more first actuators
or the
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one or more second actuators in response to the movement command, as
described above. The one or more first actuators may be one or more first
hydraulic cylinders and the one or more second actuators may be one or more
second hydraulic cylinders. The one or more first actuators may be configured
to
5 selectively raise or lower a work implement of the machine, and the one
or more
second actuators may be configured to tilt the work implement. Accordingly,
the
one or more first actuators may connect to a lift arm of the machine, and/or
the
one or more second actuators may connect to a linkage for attachment of the
work implement. The work implement may be a blade. For example, the
10 machine may be a compact track loader or a skid steer loader using a
dozer blade
attachment.
Although Fig. 3 shows example blocks of process 300, process
300 may include additional blocks, fewer blocks, different blocks, or
differently
arranged blocks than those depicted in Fig. 3. Additionally, or alternatively,
two
15 or more of the blocks of process 300 may be performed in parallel.
Industrial Applicability
The disclosed implement control system 200 may be used with
any machine 10 where mode selection for an operator control 50 is desired. In
particular, implement control system 200 may provide selective control of lift
20 actuators 40 and tilt actuators 42 Lift actuators 40 and tilt actuators
42 may be
selectively controlled by the same operator control 50, such as a joystick,
based
on whether machine 10 is operating in a lift mode or a tilt mode. In this way,
the
same motion of operator control 50 may control different functions based on
whether machine 10 is operating in a lift mode or a tilt mode.
25 Moreover, lift actuators 40 may control raising and lowering of
work implement 38 via lift arms 36, and tilt actuators 42 may control raising
and
lowering of a bottom edge of work implement 38 by controlling the pitch of
work
implement 38. That is, both of lift actuators 40 and tilt actuators 42 may
provide
for vertical movement of work implement relative to ground surface 26.
30 Accordingly, an operator may use the same motion (e.g., a forward motion
or a
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rearward motion) of a joystick for controlling a distance between a bottom
edge
of work implement 38 and ground surface 26, regardless of whether the machine
is operating in the lift mode or the tilt mode. This provides more intuitive
joystick patterns, and thereby facilitates improved control of work implement
38.
5 The
foregoing disclosure provides illustration and description, but
is not intended to be exhaustive or to limit the implementations to the
precise
form disclosed. Modifications and variations may be made in light of the above
disclosure or may be acquired from practice of the implementations.
Furthermore, any of the implementations described herein may be combined
10 unless the foregoing disclosure expressly provides a reason that one or
more
implementations cannot be combined. Even though particular combinations of
features are recited in the claims and/or disclosed in the specification,
these
combinations are not intended to limit the disclosure of various
implementations.
Although each dependent claim listed below may directly depend on only one
15 claim, the disclosure of various implementations includes each dependent
claim
in combination with every other claim in the claim set.
As used herein, "a," "an," and a "set" are intended to include one
or more items, and may be used interchangeably with "one or more." Further, as
used herein, the article "the" is intended to include one or more items
referenced
20 in connection with the article "the" and may be used interchangeably
with "the
one or more." Further, the phrase "based on" is intended to mean "based, at
least
in part, on" unless explicitly stated otherwise. Also, as used herein, the
term -or"
is intended to be inclusive when used in a series and may be used
interchangeably
with "and/or," unless explicitly stated otherwise (e.g., if used in
combination with
25 "either" or "only one of').
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