Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a fine granularity positioning method and a fine granularity positioning system based on ship networking, wherein the method comprises the following steps:
s110, acquiring hull structure information of a ship, wherein the hull structure information comprises at least one of outboard region information, inboard public region information and inboard secret region information; the ship comprises a ship body, wherein an outboard area of the ship comprises a visual information positioning device, an inboard public area comprises a UWB positioning base station system, and an inboard secret area comprises an access identification device;
s120, constructing a hull BIM model based on hull structure information of the ship; marking a target position in the hull BIM based on the coordinate information of the target determined in the hull structure information, and outputting the hull BIM to a ship central control system;
s130, carrying out digital signature encryption on the coordinate information of the target determined in the hull structure information, and fusing the coordinate information with the acquired ship AIS data to serve as data segment content of the AIS data for broadcasting;
and S140, the remote control system acquires the AIS data and decrypts the AIS data to obtain the coordinate information of the target corresponding to the AIS data segment.
In an embodiment, the method for obtaining the coordinate information of the target includes:
s1201, the visual information positioning device calculates the distance and the direction of the target in the outer area of the ship based on the acquired visual information, and converts the distance between the target and the visual information positioning device into coordinate information in the outer area of the ship;
s1202, the UWB positioning base station system comprises one or more signal anchor points, performs target positioning based on the arrival time or the arrival time difference of pulse signals of a target tag, and converts the target positioning into coordinate information in an in-ship public area;
s1203, the entrance/exit recognition device recognizes that the target enters the in-ship secret area or leaves the in-ship secret area, if the target enters the secret area, the coordinate information of the target is determined to be the center point of the in-ship secret area, and if the target leaves the secret area, the UWB positioning base station system or the visual information positioning device determines the coordinate information of the target.
In one embodiment, the identifying the target location in the BIM model includes:
the method comprises the steps of presetting a ship specific position as a ship origin, and establishing a ship coordinate system by taking the ship origin as a coordinate origin, the ship length direction as an X axis, the ship height direction as a Y axis and the ship width direction as a Z axis;
taking the coordinate information determined in the steps S1201, S1202 and S1203 as the coordinate information in the ship coordinate system; and converting the coordinate information into target position name information according to a hull structure in a hull BIM model.
In an embodiment, fusing the encrypted coordinate information and the AIS data specifically includes:
setting a target uniqueness mark, and carrying out access classification on the target based on the target confidentiality degree to obtain access right information; fusing the additional information of which the access right information is taken as the coordinate information of the target with AIS data;
the decrypting to obtain the coordinate information of the target corresponding to the AIS data segment specifically comprises the following steps:
and verifying the authority of the remote control system, and determining whether the coordinate information of each part of targets can be acquired or not based on the authority of the remote control system and the access authority information of each part of targets in the targets.
In one embodiment, the ship central control system keeps the coordinate information data of the target synchronous with the remote control system through ship networking communication;
and/or the remote control system displays the target in a pre-constructed ship BIM model based on the coordinate information of the target.
The invention also provides a fine granularity positioning system based on ship networking, which comprises the following steps:
the ship structure determining module is used for acquiring ship structure information of the ship, wherein the ship structure information comprises at least one of outboard region information, inboard public region information and inboard secret region information; the ship comprises a ship body, wherein an outboard area of the ship comprises a visual information positioning device, an inboard public area comprises a UWB positioning base station system, and an inboard secret area comprises an access identification device;
the positioning information acquisition module is used for constructing a ship BIM model based on the ship structure information of the ship; marking a target position in the hull BIM based on the coordinate information of the target determined in the hull structure information, and outputting the hull BIM to a ship central control system;
the data confidentiality and transmission module is used for carrying out digital signature encryption on the coordinate information of the target determined in the hull structure information, fusing the coordinate information with the acquired ship AIS data and then broadcasting the fused data as the data segment content of the AIS data; and the remote control system acquires the AIS data and decrypts the AIS data to obtain the coordinate information of the target corresponding to the AIS data segment.
In one embodiment, the positioning information obtaining module includes:
the outboard region positioning module is used for the visual information positioning device to calculate the distance and the direction of the target in the outboard region based on the acquired visual information, and the distance between the target and the visual information positioning device is converted into coordinate information in the outboard region;
the system comprises an in-ship public area positioning module, a UWB positioning base station system and a target tag, wherein the in-ship public area positioning module is used for performing target positioning based on the arrival time or the arrival time difference of a pulse signal of the target tag and converting the target positioning into coordinate information in an in-ship public area, and the UWB positioning base station system comprises one or more signal anchor points;
and the in-ship secret area positioning module is used for the entrance and exit recognition device to recognize that the target enters the in-ship secret area or leaves the in-ship secret area, if the entrance and exit recognition device enters the secret area, the coordinate information of the target is determined to be the center point of the in-ship secret area, and if the entrance and exit recognition device leaves the secret area, the UWB positioning base station system or the visual information positioning device determines the coordinate information of the target.
In one embodiment, the specific way of marking the target position in the BIM model includes:
the method comprises the steps of presetting a specific position of a ship as a ship origin, taking the ship origin as the origin, taking the ship length direction as an X axis, taking the ship height direction as a Y axis and taking the ship width direction as a Z axis, and establishing a ship coordinate system; and converting the coordinate information into target position name information according to a hull structure in a hull BIM model.
In an embodiment, fusing the encrypted coordinate information and the AIS data specifically includes: setting a target uniqueness mark, and carrying out access classification on the target based on the target confidentiality degree to obtain access right information; fusing the additional information of which the access right information is taken as the coordinate information of the target with AIS data;
the decrypting to obtain the coordinate information of the target corresponding to the AIS data segment specifically comprises the following steps: and verifying the authority of the remote control system, and determining whether the coordinate information of each part of targets can be acquired or not based on the authority of the remote control system and the access authority information of each part of targets in the targets.
In one embodiment, the ship central control system keeps the coordinate information data of the target synchronous with the remote control system through ship networking communication;
and/or the remote control system displays the target in a pre-constructed ship BIM model based on the coordinate information of the target.
The invention can at least achieve the following effects by adopting the method or the system: (1) Dividing the ship body structure into areas based on the characteristics of the ship, implementing three different positioning modes aiming at different types of areas and giving out related algorithms of positioning coordinates, and more accurately implementing fine-granularity positioning treatment of the targets in the ship; further, target positioning management is performed in the ship central control system and the remote control system based on the BIM model, so that user experience is improved, and accurate positioning and remote management targets are completed; (2) The confidentiality of positioning information is strictly considered in the positioning process, so that corresponding confidentiality treatment is carried out on different positioning data, and the data security is further improved.
Detailed Description
The present application will be described in detail with reference to the embodiments shown in the drawings. The embodiments are not intended to be limiting and structural, methodological, or functional changes made by those of ordinary skill in the art in light of the embodiments are intended to be included within the scope of the present application.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be capable of operation in sequences other than those illustrated or described herein, for example. Furthermore, the terms "comprises," "comprising," and "includes" and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
The method and the system provided by the embodiment of the application can be applied to artificial intelligence. Artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use the knowledge to obtain optimal results.
In addition, the artificial intelligence technology is a comprehensive discipline, and relates to the technology with wide fields, namely the technology with a hardware level and the technology with a software level. Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.
With the research and advancement of artificial intelligence technology, artificial intelligence technology has been developed for research and application in a variety of fields; for example, common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned, automatic driving, unmanned, robotic, smart medical and smart customer service, and the like; with the development of technology, artificial intelligence technology will find application in more fields and will develop more and more important value. In embodiments of the present invention, the application of artificial intelligence in ship networking, and in particular, fine-grained positioning based on ship networking will be described.
Embodiment one: as shown in fig. 1, the invention provides a fine-grained positioning method based on ship networking, which specifically comprises the following steps: the method comprises the following steps:
step S110, acquiring hull structure information of the ship, wherein the hull structure information comprises at least one of outboard region information, inboard public region information and inboard secret region information.
The target positioning in the ship needs to be set with different positioning methods according to different ship structures. In general, ships are classified into three areas, i.e., an overboard area, an inboard public area, and an inboard secret area, according to structures. An outboard area such as a deck, an outdoor corridor, or the like, and thus a visual information positioning device may be provided for such an outboard area, and target positioning based on visual information may be performed. The interior public areas such as command rooms, observation rooms, ship body corridor, movable rooms, ballast tanks, cargo holds, medical cabins and the like are usually closed or semi-closed, and the interior public areas can be positioned indoors through a UWB positioning base station system, so that the positioning effect and the positioning accuracy of the UWB positioning base station system in indoor positioning are better represented. The confidential areas in the ship such as command rooms, crew rest rooms, cabins, oil cabins, isolation cabins, cabins and the like of the specific type of ships store important equipment, key structures and privacy-guaranteeing spaces. For objects in the spaces, such as personnel, equipment and ship structures, the positions of the objects are required to be kept secret while being positioned, so that the access identification device is arranged in the secret area in the ship for fuzzy positioning without performing accurate positioning.
More preferably, the area in the hull structure can be divided into a plurality of areas of different types, and the positioning modes of the areas of different types can be applied to the positioning modes of the three areas of the outboard area, the inboard public area and the inboard secret area and the combination of the three positioning modes according to the requirements of actual scenes. For example, a visual information positioning device and a UWB positioning base station system are arranged in a semi-open area to perform target positioning; the UWB positioning base station system is provided inside the security area, however, the positioning result of the security area is not broadcast to the outside of the ship or selectively broadcast, encryption of different levels based on the security level.
S120, constructing a hull BIM model based on hull structure information of the ship; and marking the target position in the ship BIM based on the coordinate information of the target determined in the ship structure information, and outputting the ship BIM to a ship central control system.
Specifically, a ship coordinate system can be established by presetting a specific ship position as a ship origin, taking the ship origin as a coordinate origin, taking the ship length direction as an X axis, taking the ship height direction as a Y axis and taking the ship width direction as a Z axis.
In an embodiment, the method for acquiring the coordinate information based on the target determined in the three areas specifically includes the following steps:
in step S1201, the visual information positioning apparatus calculates the target distance and the target direction in the off-board area based on the acquired visual information, and converts the distance between the target and the visual information positioning apparatus into coordinate information in the off-board area.
The coordinate conversion mode is to set an auxiliary coordinate system by taking the coordinates of the visual information positioning device in the ship coordinate system as a starting point, multiply a direction vector corresponding to the target direction by a target distance to obtain a target vector, project the target vector to three axes of the auxiliary coordinate system to obtain an intermediate coordinate of the target in the auxiliary coordinate system, and execute corresponding rotation conversion and translation conversion on the intermediate coordinate based on the position relation between the auxiliary coordinate system and the ship coordinate system to obtain final coordinate information of the target in the ship coordinate system. Performing coordinate conversion based on the auxiliary coordinate system can improve the calculation efficiency.
In step S1202, the UWB positioning base station system includes one or more signal anchor points, and performs target positioning based on the arrival time or the arrival time difference of the pulse signal of the target tag, and converts the target positioning into coordinate information in the public area in the ship.
In wireless positioning, the main advantage of using UWB signals relative to narrowband signals is that UWB signals can accurately separate the first-reaching signals and multipath reflected signals in wireless transmission, but narrowband signals do not have the capability, and the first-reaching signals and multipath reflected signals can be distinguished, so that the target position can be obtained by calculating the arrival time of the first-reaching signals of different UWB signal anchor points, or the target position can be obtained by calculating the arrival time difference of the first-reaching signals and the reflected signals of the same UWB signals.
Preferably, the UWB positioning base station system may set the signal anchor point based on the spatial arrangement condition setting. For the space with narrow and long characteristics such as a ship corridor, 1 signal anchor point can be arranged at the head end and the tail end respectively, so that the positioning of a one-dimensional linear structure is realized; for a conventional indoor space, 3 or more than 3 signal anchor points can be positioned on a plane to realize the positioning of a two-dimensional plane structure; for a large space area in a large ship such as a cruise ship, 3 or more signal anchor points can be set based on the actual situation of the space shape, so that the three-dimensional space positioning of a target is realized.
Illustratively, one preferred way of targeting a large spatial area in a large vessel is:
setting 4 anchor points at four corners of a space, wherein the coordinates of the anchor points in a ship coordinate system are (x 1, y1, z 1), (x 2, y2, z 2), (x 3, y3, z 3), (x 4, y4, z 4), and assuming that the target coordinates are (x, y, z), performing target positioning calculation according to the following formula:
;
where v is the signal propagation velocity; t1, t2, t3, t4 are the times when the signal arrives at the corresponding 4 anchor points, respectively; the target coordinates (x, y, z) can be found by combining the above equations (1) - (4).
Preferably, in order to improve the calculation efficiency, when the target in a large space area in a large ship is subjected to target positioning, the calculation of the target position can be performed by only taking the relevant information of the signal anchor points of three key positions, so that the calculation process is simplified.
In step S1203, the entrance/exit recognition device recognizes that the target enters the in-ship security area or leaves the in-ship security area, if the target enters the security area, the coordinate information of the target is determined to be the center point of the in-ship security area, and if the target leaves the security area, the UWB positioning base station system or the visual information positioning device determines the coordinate information of the target.
The security areas are spaces for storing important equipment, critical structures, privacy guarantee, such as command rooms, crew rest rooms, cabins, oil cabins, isolation cabins, etc. of a specified type of ship. The security features of the object should be prioritized for the object localization of the security area. In general, the entrance and exit identifying device can determine whether the target enters the security area by combining the related information, and positioning in the security area only needs to be performed with fuzzy positioning, so that it is preferable that if the target enters the security area, the target positions the center point of the coordinate information security area. After leaving the secure area, a corresponding positioning mode can be performed depending on the type of the ship area.
The coordinate information in the steps S1201, S1202, and S1203 is the coordinate information in the ship coordinate system; and converting the coordinate information into target position name information according to the hull structure in the hull BIM. For example, according to the hull BIM model, the coordinate area of the command room is defined by (xa, ya, za), (xb, yb, zb), (xc, yc, zc), (xd, yd, zd), if the coordinate information of the target is within the space area, the coordinate information of the target is converted into a command room, and the coordinate information is converted into a position name for outputting in different occasions, so that the user experience can be remarkably improved on the basis of accurate positioning.
And step S130, carrying out digital signature encryption on the coordinate information of the target determined in the hull structure information, and fusing the coordinate information with the acquired ship AIS data to serve as the data segment content of the AIS data for broadcasting.
And step S140, the remote control system acquires the AIS data and decrypts the AIS data to obtain the coordinate information of the target corresponding to the AIS data segment.
Specifically, fusing the encrypted coordinate information with the AIS data specifically includes: setting a target uniqueness mark, and carrying out access classification on the target based on the target confidentiality degree to obtain access right information; and fusing the additional information taking the access right information as the coordinate information of the target with AIS data.
Decrypting to obtain the coordinate information of the target corresponding to the AIS data segment specifically comprises checking the authority of a current remote control system, and determining whether the coordinate information of each part of targets can be obtained or not based on the authority of the remote control system and the access authority information of each part of targets in the targets. For example, if the current authority of the remote control system is smaller than the access authority information of a part of the targets, the coordinate information of the part of the targets fails to be acquired, and the coordinate information of the rest of the targets succeeds to be acquired.
The positioning information is key and sensitive information of the target, confidentiality of the positioning information should be strictly established in ship positioning, access authority information is used as additional information of coordinate information of the target, and the information security is improved by authority verification before the coordinate information is acquired. By setting the multi-layer authority level, the fine management is facilitated.
Preferably, for system rights that do not pass the rights verification, the coordinate information of the object may be blurred, and only the location within a larger area is displayed, not the exact coordinates thereof.
Preferably, for a secret area, a UWB positioning base station system is used for positioning a target, and if the coordinate range is within the range of the secret area, fuzzification processing is carried out on the coordinate; further, acquiring the security level of the security area, and fusing the security level of the security area as second additional information with AIS data; when the remote control system decrypts, if the authority level of the remote control system is higher than the security level of the second additional information, performing anti-blurring processing on the coordinate information to obtain the accurate positioning information of the target in the security area. The blurring processing refers to a processing mode of hiding accurate information of coordinates; the defuzzification processing refers to a processing mode of extracting accurate information of coordinates again to perform correlation processing.
Preferably, the marine central control system maintains the coordinate information data of the target in synchronization with the remote control system through the marine networking communication. The central control system and the remote control system belong to different control management terminals and can both display the same ship BIM model and information for positioning targets in ships, however, in view of the fact that AIS data are easy to lose and update instability, the remote control system can have data loss and delayed asynchronous conditions, and therefore the purpose of data synchronization can be achieved through relatively unobstructed ship networking communication. In a preferred implementation scenario, for example, when a person is rescue, the rescue action may be inaccurate due to the above example reasons by guiding the rescue action only through the AIS data, so that the ship networking communication system may be established first in the rescue action, and the accurate data in the ship central control system is transmitted to the remote system based on the established ship networking communication system, so that the coordinate information data of the targets of the ship central control system and the remote control system are synchronized. Another preferred implementation scenario is for example, vessels coming into port range, the transmission of coordinate information data for synchronization to a remote control system based on a ship-to-network communication system of an onshore base station.
Embodiment two: as shown in fig. 2, the present application further provides a fine-grained positioning system based on ship networking, including the following modules:
the ship structure determining module is used for acquiring ship structure information of the ship, wherein the ship structure information comprises at least one of outboard region information, inboard public region information and inboard secret region information; the ship comprises a ship body, wherein an outboard area of the ship comprises a visual information positioning device, an inboard public area comprises a UWB positioning base station system, and an inboard secret area comprises an access identification device;
the positioning information acquisition module is used for constructing a ship BIM model based on the ship structure information of the ship; marking a target position in the hull BIM based on the coordinate information of the target determined in the hull structure information, and outputting the hull BIM to a ship central control system;
the data confidentiality and transmission module is used for carrying out digital signature encryption on the coordinate information of the target determined in the hull structure information, fusing the coordinate information with the acquired ship AIS data and then broadcasting the fused data as the data segment content of the AIS data; and the remote control system acquires the AIS data and decrypts the AIS data to obtain the coordinate information of the target corresponding to the AIS data segment.
In one embodiment, the positioning information obtaining module includes:
the outboard region positioning module is used for the visual information positioning device to calculate the distance and the direction of the target in the outboard region based on the acquired visual information, and the distance between the target and the visual information positioning device is converted into coordinate information in the outboard region;
the system comprises an in-ship public area positioning module, a UWB positioning base station system and a target tag, wherein the in-ship public area positioning module is used for performing target positioning based on the arrival time or the arrival time difference of a pulse signal of the target tag and converting the target positioning into coordinate information in an in-ship public area, and the UWB positioning base station system comprises one or more signal anchor points;
and the in-ship secret area positioning module is used for the entrance and exit recognition device to recognize that the target enters the in-ship secret area or leaves the in-ship secret area, if the entrance and exit recognition device enters the secret area, the coordinate information of the target is determined to be the center point of the in-ship secret area, and if the entrance and exit recognition device leaves the secret area, the UWB positioning base station system or the visual information positioning device determines the coordinate information of the target.
In one embodiment, the specific way to mark the target location in the BIM model is:
the method comprises the steps of presetting a specific position of a ship as a ship origin, taking the ship origin as the origin, taking the ship length direction as an X axis, taking the ship height direction as a Y axis and taking the ship width direction as a Z axis, and establishing a ship coordinate system; and converting the coordinate information into target position name information according to a hull structure in a hull BIM model.
In an embodiment, fusing the encrypted coordinate information and the AIS data specifically includes: setting a target uniqueness mark, and carrying out access classification on the target based on the target confidentiality degree to obtain access right information; fusing the additional information of which the access right information is taken as the coordinate information of the target with AIS data; the decrypting to obtain the coordinate information of the target corresponding to the AIS data segment specifically comprises the following steps: and verifying the authority of the remote control system, and determining whether the coordinate information of each part of targets can be acquired or not based on the authority of the remote control system and the access authority information of each part of targets in the targets.
In one embodiment, the ship central control system keeps the coordinate information data of the target synchronous with the remote control system through ship networking communication; the remote control system displays the target in a pre-constructed ship BIM model based on the coordinate information of the target.
The invention can at least achieve the following effects by adopting the method or the system: (1) Dividing the ship body structure into areas based on the characteristics of the ship, implementing three different positioning modes aiming at different types of areas and giving out related algorithms of positioning coordinates, and more accurately implementing fine-granularity positioning treatment of the targets in the ship; further, target positioning management is performed in the ship central control system and the remote control system based on the BIM model, so that user experience is improved, and accurate positioning and remote management targets are completed; (2) The confidentiality of positioning information is strictly considered in the positioning process, so that corresponding confidentiality treatment is carried out on different positioning data, and the data security is further improved.
Fig. 3 also shows a hardware configuration diagram of the electronic device according to the embodiment of the present specification. As shown in fig. 3, the electronic device 30 may include at least one processor 31, a memory 32 (e.g., a non-volatile memory), a memory 33, and a communication interface 34, and the at least one processor 31, the memory 32, the memory 33, and the communication interface 34 are connected together via an internal bus 35. The at least one processor 31 executes at least one computer readable instruction stored or encoded in the memory 32.
It should be understood that the computer-executable instructions stored in the memory 32, when executed, cause the at least one processor 31 to perform the various operations and functions described above in connection with fig. 1 in various embodiments of the present description.
In embodiments of the present description, electronic device 30 may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smart phones, tablet computers, cellular phones, personal Digital Assistants (PDAs), handsets, messaging devices, wearable electronic devices, consumer electronic devices, and the like.
According to one embodiment, a program product, such as a machine-readable medium, is provided. The machine-readable medium may have instructions (i.e., the elements described above implemented in software) that, when executed by a machine, cause the machine to perform the various operations and functions described above in connection with fig. 1 in various embodiments of the specification. In particular, a system or apparatus provided with a readable storage medium having stored thereon software program code implementing the functions of any of the above embodiments may be provided, and a computer or processor of the system or apparatus may be caused to read out and execute instructions stored in the readable storage medium.
In this case, the program code itself read from the readable medium may implement the functions of any of the above embodiments, and thus the machine-readable code and the readable storage medium storing the machine-readable code form part of the present specification.
Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer or cloud by a communications network.
It will be appreciated by those skilled in the art that various changes and modifications can be made to the embodiments disclosed above without departing from the spirit of the invention. Accordingly, the scope of protection of this specification should be limited by the attached claims.
It should be noted that not all the steps and units in the above flowcharts and the system configuration diagrams are necessary, and some steps or units may be omitted according to actual needs. The order of execution of the steps is not fixed and may be determined as desired. The apparatus structures described in the above embodiments may be physical structures or logical structures, that is, some units may be implemented by the same physical client, or some units may be implemented by multiple physical clients, or may be implemented jointly by some components in multiple independent devices.
In the above embodiments, the hardware units or modules may be implemented mechanically or electrically. For example, a hardware unit, module or processor may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware unit or processor may also include programmable logic or circuitry (e.g., a general purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The particular implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
The detailed description set forth above in connection with the appended drawings describes exemplary embodiments, but does not represent all embodiments that may be implemented or fall within the scope of the claims. The term "exemplary" used throughout this specification means "serving as an example, instance, or illustration," and does not mean "preferred" or "advantageous over other embodiments. The detailed description includes specific details for the purpose of providing an understanding of the described technology. However, the techniques may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the concepts of the described embodiments.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.