CN110688912A - An online face search and positioning system and method based on IPv6 cloud interconnection - Google Patents
An online face search and positioning system and method based on IPv6 cloud interconnectionDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及人脸搜索定位系统技术领域，具体涉及一种基于IPv6云端互联的在线人脸搜索定位系统及方法。The invention relates to the technical field of face search and positioning systems, in particular to an online face search and positioning system and method based on IPv6 cloud interconnection.
背景技术Background technique
人脸识别是基于人的脸部特征信息进行身份识别的一种生物识别技术。相比较其他身份识别方法，其具有快速、便捷、直观、可靠等优点。随着计算机技术和光学技术的发展，人脸识别技术被广泛应用于人们生活当中，诸如人脸识别考勤、人脸识别门禁和人脸识别定位等。IPv6是由IETF(The Internet Engineer Task Force)设计制定的下一代网络协议。与IPv4相比， IPv6能够提供充足的网络地址和广阔的创新空间，是全球公认的下一代互联网商业应用解决方法，并且其与云计算应用的结合，提供了更为高效的信息处理和传输的渠道。Face recognition is a kind of biometric identification technology based on human facial feature information. Compared with other identification methods, it has the advantages of fast, convenient, intuitive and reliable. With the development of computer technology and optical technology, face recognition technology is widely used in people's lives, such as face recognition attendance, face recognition access control and face recognition positioning. IPv6 is a next-generation network protocol designed and formulated by IETF (The Internet Engineer Task Force). Compared with IPv4, IPv6 can provide sufficient network addresses and broad innovation space. It is a globally recognized solution for next-generation Internet business applications, and its combination with cloud computing applications provides more efficient information processing and transmission. channel.
当今的无线定位技术主要包含两类：主动式定位技术和被动式定位技术。主动式定位技术要求定位目标携带设备，且主动参与到定位过程中，如GPS 定位技术、基于WiFi信号的室内定位、基于Zigbee网络的目标定位等。然而，被定位的目标处在特定环境中无法或不方便携带设备时，主动式定位技术就存在局限性。被动式定位技术，即被监控或定位的目标无需携带任何设备也能完成目标的定位与跟踪。人脸识别定位技术，就属于一种被动式定位技术，其将人脸识别和视频监控定位相结合，无需终端即可确定人员所在位置，更加方便快捷。常用于对罪犯行踪的追踪，如专利CN103699677B，其通过城市视频网络采集人脸数据并将数据回传到本地终端与本地数据库进行比对，用于追捕罪犯行踪。然而其对罪犯的定位并非实时追踪，且其不具有普适性。Today's wireless positioning technology mainly includes two categories: active positioning technology and passive positioning technology. Active positioning technology requires the positioning target to carry equipment and actively participate in the positioning process, such as GPS positioning technology, indoor positioning based on WiFi signal, and target positioning based on Zigbee network. However, active positioning technology has limitations when the target to be located is in a specific environment where it is impossible or inconvenient to carry the device. Passive positioning technology, that is, the target being monitored or positioned can complete the positioning and tracking of the target without carrying any equipment. Face recognition positioning technology is a passive positioning technology, which combines face recognition and video surveillance positioning, and can determine the location of people without a terminal, which is more convenient and fast. It is often used to track the whereabouts of criminals, such as patent CN103699677B, which collects face data through the urban video network and transmits the data back to the local terminal for comparison with the local database, so as to track the whereabouts of criminals. However, its location of criminals is not real-time tracking, and it is not universal.
本发明针对上述问题，提出一种基于IPv6云端互联的在线人脸搜索定位方法和系统。本发明将FPGA开发板和摄像头进行集成，在摄像头监控端用FPGA 开发板进行多样化处理--将图片回传、定位和人脸识别、人脸追踪进行结合，可以更加方便的调取所需人员的照片及位置信息，达到监控、人脸识别、人员定位一体化。本发明为每一个摄像头模块都分配了IP地址，在IPv6网络下，每一个摄像头模块均在此网络下，所有摄像头模块形成了一个云端互联网络，所以具有定位精准的特点，并且具有实时性和普适性。本发明操作简单，受用面积广，用户只要有智能终端就可以依靠人脸识别技术，在海量人员中进行人脸识别定位，监控范围更广，并且可以实时对图像或视频进行回传，可随时调取人的位置及周围环境，更加符合相关市场需求。In view of the above problems, the present invention proposes an online face search and positioning method and system based on IPv6 cloud interconnection. The invention integrates the FPGA development board and the camera, and uses the FPGA development board for diversified processing at the monitoring end of the camera-combining picture return and positioning with face recognition and face tracking, which can more conveniently retrieve the required Personnel photos and location information, to achieve the integration of monitoring, face recognition, and personnel positioning. The present invention assigns an IP address to each camera module. Under the IPv6 network, each camera module is under this network, and all camera modules form a cloud interconnection network, so it has the characteristics of accurate positioning, and has real-time and Universality. The invention has simple operation and wide application area. As long as the user has an intelligent terminal, he can rely on the face recognition technology to perform face recognition and positioning among a large number of people, the monitoring range is wider, and the image or video can be returned in real time, which can be used at any time. The location of the person and the surrounding environment are retrieved, which is more in line with the relevant market needs.
发明内容SUMMARY OF THE INVENTION
(一)解决的技术问题(1) Technical problems solved
本发明的目的是克服现有技术的不足，本发明提供了一种基于IPv6云端互联的在线人脸搜索定位系统及方法，解决传统GPS定位和IP定位等在某些情况下不准确、大多数人脸识别定位系统实时性和普适性不高的问题。The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides an online face search and positioning system and method based on IPv6 cloud interconnection, which solves the problem that traditional GPS positioning and IP positioning are inaccurate and most The real-time and universality of face recognition positioning system is not high.
(二)技术方案(2) Technical solutions
本发明的技术方案：一种基于IPv6云端互联的在线人脸搜索和定位系统，包括用户终端、通信链路、云服务器和n个摄像头模块，其中：所述用户终端经通信链路与云服务器相连，所述云服务器经通信链路分别于n个摄像头连接。The technical solution of the present invention: an online face search and positioning system based on IPv6 cloud interconnection, including a user terminal, a communication link, a cloud server and n camera modules, wherein: the user terminal is connected to the cloud server through a communication link. The cloud servers are respectively connected with n cameras via communication links.
所述的用户终端，其中：用户终端通过通信链路连接云服务器进行待查询人脸图片的上传，用户终端实时接收摄像头模块上传到云服务器模块的照片或视频，在本地显示给使用者。The user terminal, wherein: the user terminal is connected to the cloud server through a communication link to upload the face picture to be queried, the user terminal receives the photo or video uploaded by the camera module to the cloud server module in real time, and displays it locally to the user.
所述的通信链路，其中：通信链路可为有线和无线链路，用于连接用户终端，云服务器和摄像头模块进行通信。The communication link, wherein: the communication link can be a wired or wireless link for connecting the user terminal, the cloud server and the camera module for communication.
所述的云服务器，其中：云服务器可为各大商家的云服务平台，并与多个摄像头模块构建出一个云端互联网络。The cloud server, wherein: the cloud server can be a cloud service platform of major businesses, and builds a cloud interconnection network with a plurality of camera modules.
所述的摄像头模块包括通信接口单元、基于FPGA的人脸识别单元、摄像头单元和转台，其中：所述通信接口单元与基于FPGA的人脸识别单元相连，所述基于FPGA的人脸识别单元分别与摄像头和转台连接，摄像头单元与转台连接。The camera module includes a communication interface unit, an FPGA-based face recognition unit, a camera unit and a turntable, wherein: the communication interface unit is connected with the FPGA-based face recognition unit, and the FPGA-based face recognition unit is respectively It is connected with the camera and the turntable, and the camera unit is connected with the turntable.
上述的通信接口单元负责进行摄像头模块和云服务器模块进行连接通信，可为有线和无线通信。The above-mentioned communication interface unit is responsible for the connection and communication between the camera module and the cloud server module, which can be wired or wireless communication.
上述的基于FPGA的人脸识别单元将摄像头传来的图片视频进行人脸图像特征提取和识别，识别成功通过通信接口单元向云服务器返回包含人脸图像的图片视频和IPv6地址，同时控制转台机械旋转跟随已识别人员。The above-mentioned FPGA-based face recognition unit performs facial image feature extraction and recognition on the picture video transmitted by the camera, and the recognition successfully returns the picture video and IPv6 address containing the facial image to the cloud server through the communication interface unit, and controls the turntable machinery simultaneously. Rotate to follow the identified person.
上述的摄像头单元可自动调节画面清晰度，实时监控的同时进行录音录像并传给基于FPGA的人脸识别单元进行人脸识别。The above-mentioned camera unit can automatically adjust the clarity of the picture, perform real-time monitoring while recording and recording, and transmit it to the FPGA-based face recognition unit for face recognition.
上述的转台负责对被监控目标的方向作出机械快速旋转等操作。The above-mentioned turntable is responsible for performing operations such as mechanical rapid rotation on the direction of the monitored target.
一种基于IPv6云端互联的在线人脸搜索定位方法，其中，包括以下步骤：An online face search and positioning method based on IPv6 cloud interconnection, which includes the following steps:
1)用户终端登陆账户并通过通信链路与云服务器建立连接，用户终端向云服务器上传待查找人员图片。1) The user terminal logs in to the account and establishes a connection with the cloud server through a communication link, and the user terminal uploads the picture of the person to be searched to the cloud server.
2)云服务器通过通信链路与摄像头模块进行连接，云服务器将待查找人员图片传到摄像头模块的基于FPGA的人脸识别单元。2) The cloud server is connected with the camera module through the communication link, and the cloud server transmits the picture of the person to be searched to the FPGA-based face recognition unit of the camera module.
3)摄像头模块开始工作：摄像头模块通过通信接口单元获取到云服务器传来的待查找人员图片，并对此时进入摄像头有效摄像范围内的人员图片进行捕捉，然后通过基于FPGA的人脸识别单元对捕捉到的人员图片与待查找人员图片进行比对。3) The camera module starts to work: the camera module obtains the picture of the person to be searched from the cloud server through the communication interface unit, and captures the picture of the person entering the effective camera range of the camera at this time, and then passes the FPGA-based face recognition unit. Compare the captured picture of the person with the picture of the person to be found.
4)基于FPGA的人脸识别单元识别成功后则控制转台机械运转跟随识别成功的人脸且同时控制通信接口单元返回IPv6地址和图像视频流给云服务器。4) After the FPGA-based face recognition unit is successfully recognized, it controls the mechanical operation of the turntable to follow the successfully recognized face, and at the same time controls the communication interface unit to return the IPv6 address and the image and video stream to the cloud server.
5)服务器将接收到的IPv6地址与预先设置好的IP地址编码表配对，找出该摄像头的安装位置，配对成功后将人脸图像或视频流、IPv6地址和地理位置再经通信链路传给用户终端设备。5) The server pairs the received IPv6 address with the pre-set IP address coding table, finds out the installation location of the camera, and transmits the face image or video stream, IPv6 address and geographic location through the communication link after the pairing is successful. to the user terminal equipment.
6)用户终端设备接收云服务器传来已匹配成功的人脸图像或视频流、 IPv6地址和地理位置本地显示给用户。6) The user terminal device receives the successfully matched face image or video stream, IPv6 address and geographic location from the cloud server and displays it locally to the user.
(三)有益效果(3) Beneficial effects
本发明的优点在于：The advantages of the present invention are:
1、功能强，目前世界上大多使用GPS系统定位，而本项目由于摄像头固定，无需GPS终端即可确定人员所在位置，更加方便。采用人脸识别及IP地址来实现定位功能，不仅定位更准确，更能在终端进行实时监控及处理。本发明能在海量人员中进行人脸识别定位，监控范围更广，加以视频搜集及回传，可随时调取人的位置及周围环境，更加符合相关市场需求。1. The function is strong. At present, most of the world uses GPS system for positioning, and because the camera is fixed in this project, the location of personnel can be determined without GPS terminal, which is more convenient. Using face recognition and IP address to realize the positioning function, not only more accurate positioning, but also real-time monitoring and processing on the terminal. The present invention can perform face recognition and positioning among a large number of people, and the monitoring range is wider. With video collection and return, the location and surrounding environment of people can be retrieved at any time, which is more in line with relevant market demands.
2、成本低、开发周期短，本发明在一块开发板上即可实现视频采集，人脸识别及IP定位。2. The cost is low and the development period is short, and the present invention can realize video capture, face recognition and IP positioning on one development board.
附图说明Description of drawings
图1为一种基于IPv6云端互联的在线人脸搜索定位系统；Fig. 1 is an online face search and positioning system based on IPv6 cloud interconnection;
图2为摄像头模块；Figure 2 is a camera module;
图3为人脸识别过程；Figure 3 shows the face recognition process;
图4为摄像头模块网络；Figure 4 is the camera module network;
图5为本发明装置的现场实施图。Fig. 5 is a site implementation diagram of the device of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
本发明提供了一种基于IPv6云端互联的在线人脸搜索定位方法和系统，The invention provides an online face search and positioning method and system based on IPv6 cloud interconnection,
如图1所示，包括用户终端、通信链路、云服务器和多个摄像头模块。用户终端经通信链路与云服务器相连，云服务器经通信链路分别于n个摄像头连接。用户终端登陆账户并通过通信链路与云服务器建立连接通信，建立连接通信后向云服务器上传待查找人员图片。云服务器通过通信链路与摄像头模块进行连接通信，云服务器将待查找人员图片传到摄像头模块的基于 FPGA的人脸识别单元，并使摄像头模块处于待机状态。云服务器通过多个摄像头模块构成的摄像头模块网络可获取每个摄像头的IP，整理并存储在服务器中，同时绘制一张所监控区域的地图，将IP地址映射到地图上，每一个IP 对应一个地图上的区域，并将该映射信息存储在云服务器中。摄像头模块开始工作：摄像头模块通过通信接口单元获取到云服务器传来的待查找人员图片，并对此时进入摄像头有效摄像范围内的人员图片进行捕捉，然后通过基于FPGA的人脸识别单元对捕捉到的人员图片与待查找人员图片进行比对。基于FPGA的人脸识别单元识别成功后则控制转台机械运转跟随识别成功的人脸且同时控制通信接口单元返回IPv6地址和图像视频流给云服务器。服务器将接收到的IPv6地址与预先设置好的IP地址编码表配对，找出该摄像头的安装位置，配对成功后将人脸图像或视频流、IPv6地址和地理位置再经通信链路传给用户终端设备。用户终端设备接收云服务器传来已匹配成功的人脸图像或视频流、IPv6地址和地理位置本地显示给用户。As shown in Figure 1, it includes a user terminal, a communication link, a cloud server and multiple camera modules. The user terminal is connected to the cloud server through a communication link, and the cloud server is respectively connected to the n cameras through the communication link. The user terminal logs in to the account and establishes connection communication with the cloud server through the communication link, and uploads the picture of the person to be searched to the cloud server after the connection communication is established. The cloud server communicates with the camera module through a communication link, and the cloud server transmits the picture of the person to be searched to the FPGA-based face recognition unit of the camera module, and makes the camera module in a standby state. The cloud server can obtain the IP of each camera through the camera module network composed of multiple camera modules, organize and store it in the server, and draw a map of the monitored area at the same time, map the IP address to the map, and each IP corresponds to a area on the map, and store the mapping information in the cloud server. The camera module starts to work: the camera module obtains the picture of the person to be searched from the cloud server through the communication interface unit, and captures the picture of the person entering the effective camera range of the camera at this time, and then uses the FPGA-based face recognition unit to capture the picture. The picture of the person arrived is compared with the picture of the person to be searched. After the FPGA-based face recognition unit is successfully recognized, it controls the mechanical operation of the turntable to follow the successfully recognized face, and at the same time controls the communication interface unit to return the IPv6 address and the image and video stream to the cloud server. The server pairs the received IPv6 address with the pre-set IP address coding table, finds out the installation location of the camera, and transmits the face image or video stream, IPv6 address and geographic location to the user through the communication link after successful pairing Terminal Equipment. The user terminal device receives the successfully matched face image or video stream, IPv6 address and geographic location from the cloud server and displays it locally to the user.
如图2所示，摄像头模块包括通信接口单元、基于FPGA的人脸识别单元、摄像头单元和转台。通信接口单元与基于FPGA的人脸识别单元相连，基于FPGA 的人脸识别单元分别与摄像头单元和转台连接，摄像头单元与转台连接。通信接口单元负责进行摄像头模块与云服务器进行连接通信，可为有线和无线通信单元。摄像头可自动调节画面清晰度，实时监控的同时进行录音录像传给基于FPGA的人脸识别单元进行人脸图像识别。基于FPGA的人脸识别单元将摄像头单元传来的包含人脸图像视频进行人脸图像特征提取和识别，识别成功通过通信接口单元向云服务器模块返回包含人脸图像的视频流和IPv6地址，同时控制转台机械旋转跟随人脸。转台负责对被监控目标的方向作出快速旋转等操作。As shown in Figure 2, the camera module includes a communication interface unit, an FPGA-based face recognition unit, a camera unit and a turntable. The communication interface unit is connected with the FPGA-based face recognition unit, the FPGA-based face recognition unit is respectively connected with the camera unit and the turntable, and the camera unit is connected with the turntable. The communication interface unit is responsible for connecting and communicating between the camera module and the cloud server, and can be a wired or wireless communication unit. The camera can automatically adjust the picture clarity, and at the same time of real-time monitoring, the recording and video recording is transmitted to the FPGA-based face recognition unit for face image recognition. The FPGA-based face recognition unit extracts and recognizes the features of the face image from the video containing the face image sent from the camera unit. The recognition successfully returns the video stream and IPv6 address containing the face image to the cloud server module through the communication interface unit. Control the mechanical rotation of the turntable to follow the face. The turntable is responsible for operations such as rapid rotation of the direction of the monitored target.
如图3所示人脸识别算法简要流程图，该方法包括人脸图像采集及检测、人脸图像预处理、人脸图像特征提取以及匹配与识别。在摄像机的有效摄像范围内可通过控制转台机械旋转连续跟踪捕捉其面部照片进行人脸图像采集及检测，无论是静态图像、动态图像、不同的位置、不同表情等方面都可以得到良好的采集，采集完成进行人脸检测，即在图像中准确标定出人脸的位置和大小，接着进行人脸图像预处理。系统获取的原始图像由于受到各种条件的限制和随机干扰，往往不能直接使用，必须在图像处理的早期阶段对它进行灰度校正、噪声过滤等图像预处理以服务于特征提取的过程。人脸由眼睛、鼻子、嘴、下巴等局部构成，对这些局部和它们之间结构关系的几何描述来作为人脸识别的重要特征并提取。提取完人脸特征即进行匹配与识别，提取出的人脸图像的特征数据与数据库中存储的特征模板进行搜索匹配，通过设定一个阈值，当相似度超过这一阈值，则把匹配得到的结果输出，人脸匹配成功即控制转台和摄像头伸缩旋转跟随目标。Figure 3 shows a brief flow chart of the face recognition algorithm. The method includes face image acquisition and detection, face image preprocessing, face image feature extraction, and matching and recognition. Within the effective shooting range of the camera, the facial photos can be continuously tracked and captured by controlling the mechanical rotation of the turntable for face image acquisition and detection. Whether it is a static image, a dynamic image, different positions, different expressions, etc., it can be well collected. After the acquisition is completed, face detection is performed, that is, the position and size of the face are accurately calibrated in the image, and then the face image preprocessing is performed. The original image obtained by the system cannot be used directly due to various limitations and random interference. It must be preprocessed such as grayscale correction and noise filtering in the early stage of image processing to serve the process of feature extraction. The human face is composed of parts such as eyes, nose, mouth, chin, etc. The geometric description of these parts and the structural relationship between them is used as an important feature of face recognition and extracted. After the face features are extracted, matching and identification are performed. The extracted feature data of the face image is searched and matched with the feature templates stored in the database. By setting a threshold, when the similarity exceeds this threshold, the matching obtained. The result is output, the face matching is successful, that is, the turntable and the camera are controlled to rotate and follow the target.
图4显示了在云端互联网络下，每一个摄像头模块均在此网络下，所有摄像头模块形成一个互联网络，利用IPv6的IP地址多，信息传输安全的优点，可以极大优化本定位系统。用户终端将待查找人员图片通过终端导入到云服务器，云服务器得到图片后即向各摄像头模块传送此图片，将该图片缓存在处理器中，并使摄像头处于待机状态，面向所监控区域铺设摄像头，形成密集的摄像头模块网络，即可获取每个摄像头的IP，整理并存储在服务器中，同时绘制一张所监控区域的地图，将IP地址映射到地图上，每一个IP 对应一个地图上的区域，并将该映射信息存储在云服务器中。当终端接收到服务器返回的IP地址信息和时间信息时，通过预设的地图映射信息，得到该人员的位置信息，显示在用户终端上。Figure 4 shows that under the cloud interconnection network, each camera module is under this network, and all camera modules form an interconnection network. Using the advantages of IPv6 with many IP addresses and secure information transmission, the positioning system can be greatly optimized. The user terminal imports the picture of the person to be searched into the cloud server through the terminal. After the cloud server obtains the picture, it transmits the picture to each camera module, caches the picture in the processor, makes the camera in a standby state, and lays a camera facing the monitored area. , forming a dense network of camera modules, you can obtain the IP of each camera, organize and store it in the server, and draw a map of the monitored area at the same time, map the IP address to the map, and each IP corresponds to a map on the map. region, and store the mapping information in the cloud server. When the terminal receives the IP address information and time information returned by the server, it obtains the location information of the person through the preset map mapping information and displays it on the user terminal.
如图5所示是一种基于IPv6云端互联的在线人脸搜索和定位系统和方法的展品场景实施图。本发明主要应用于家庭、仓库、店面、公司、病房等场所提供实时监控并人脸检测。系统经济实惠且十分便捷，通过互联网把服务器、摄像头手机等终端等硬件有机结合，可以在公司布局实现人脸打卡，亦或在商场实现走失小孩的搜寻，仓库防盗以病房监控。As shown in Figure 5, an exhibit scene implementation diagram of an online face search and positioning system and method based on IPv6 cloud interconnection. The present invention is mainly used in home, warehouse, storefront, company, ward and other places to provide real-time monitoring and face detection. The system is economical and very convenient. It integrates hardware such as servers, cameras, mobile phones and other terminals through the Internet. It can realize face punching in the company layout, or search for lost children in shopping malls. Warehouse security is monitored by wards.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.
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