Disclosure of Invention
In order to solve the above problems in the prior art, that is, the existing insole manufacturing is mostly universal and lacks the problem of targeted design for consumers, the invention provides a personalized insole manufacturing method based on three-dimensional motion capture and 3D printing, which is characterized in that the method comprises the following steps:
The method comprises the steps of acquiring foot data of a target, wherein the foot data comprise static foot scanning data, plantar pressure data under a dynamic force measuring plate, three-dimensional motion track data captured by Vicon three-dimensional motion, foot surface myoelectricity data and plantar dynamic pressure distribution data measured by Zebris;
Preprocessing the foot data of the target to obtain preprocessed foot data;
extracting features of the preprocessed foot data to obtain foot features, wherein the foot features comprise data source features;
Constructing comprehensive feature vectors of all foot features based on the data source features of all foot features, carrying out mechanical analysis on the targets based on the data source features to obtain mechanical analysis results;
And 3D printing of the insole is performed based on the mechanical analysis result and the foot mechanical model.
In a preferred embodiment, the method of acquiring foot data of a subject is:
carrying out static scanning on the foot of the target, and carrying out accurate measurement on the arch height, the foot length and the foot width parameters of the target to obtain static foot scanning data;
Based on the activity type of the target on the dynamic force measuring plate, recording the plantar pressure distribution condition through the force measuring plate, and capturing the pressure change in an asynchronous state to obtain plantar pressure data;
Installing reflective mark points on a plurality of key points of the foot, lower limb and trunk of a target by using a Vicon system, capturing three-dimensional motion trajectories of the mark points by using a camera, and obtaining three-dimensional motion trajectory data;
Installing surface myoelectricity electrodes on muscle groups of the target foot and lower limb, recording muscle activity conditions, and obtaining foot surface myoelectricity data based on the muscle activity conditions;
Based on the walking of the target on the Zebris pressure measurement system, the dynamic pressure distribution of the sole is recorded through the high-precision pressure sensor, and the dynamic pressure distribution data of the sole is obtained.
In a preferred embodiment, preprocessing the foot data of the target to obtain preprocessed foot data includes:
Filtering the foot data by using a filtering technology to obtain filtered foot data;
the filtered foot data from different devices is time synchronized to obtain pre-processed foot data.
In a preferred embodiment, the individual foot features are static foot features, dynamic pressure features, kinematic features, and myoelectric features, respectively.
In a preferred embodiment, feature extraction of the preprocessed foot data to obtain individual foot features includes:
Extracting foot geometric features based on the preprocessed static foot scanning data, wherein the data source features of the foot geometric features comprise arch height, foot length, foot width and foot volume;
Extracting dynamic pressure characteristics based on the preprocessed plantar pressure data and the preprocessed plantar dynamic pressure distribution data, wherein the data source characteristics of the dynamic pressure characteristics comprise plantar pressure distribution, a gravity center track function and a pressure peak value;
The gravity center track function is as follows:
Wherein T is time, T is time from one foot to the next foot to land again, A is distance of the center of gravity deviating from the center line at maximum in each gait cycle, Y (T) is the angle of the center of gravity track;
Extracting kinematic features based on the preprocessed three-dimensional motion trail data, wherein the data source features of the kinematic features comprise gait cycle, stride frequency and ankle joint angle change functions;
The joint angle change function is as follows:
Wherein, θankle(t) is the change of the ankle angle with time, aankle is the maximum amplitude of the ankle angle change, phiankle is the phase shift, θankle_offset is the basic angle of the ankle, T is the time, and T is the time from one foot to the next foot;
and extracting myoelectricity characteristics based on the preprocessed myoelectricity data on the surface of the foot, wherein the myoelectricity characteristics comprise myoelectricity activity level characteristics, myoelectricity time sequence characteristics and muscle synergy degree characteristics.
In a preferred embodiment, constructing the composite feature vector for each foot feature based on the data source features for each foot feature specifically includes:
The comprehensive characteristic vector of the geometrical characteristics of the foot is D= (D1,D2,D3,D4), the comprehensive characteristic vector of the dynamic pressure characteristic is E= (Y1, 1), the comprehensive characteristic vector of the kinematic characteristic is U= (U1,U2,U3, 1), the comprehensive characteristic vector of the myoelectric characteristic is V= (V1,V2,V3, 1), wherein D1,D2,D3,D4 is the height of the foot arch, the length of the foot, the width of the foot and the volume of the foot respectively, Y1 is the pressure peak, U1,U2,U3 is the gait cycle, the stride and the stride frequency respectively, and V1,V2,V3 is the myoelectric activity level characteristic, the myoelectric time sequence characteristic and the muscle synergy degree characteristic respectively;
In a preferred embodiment, mechanically analyzing the target based on the data source characteristics to obtain a mechanical analysis result includes:
Obtaining a pressure concentration area and a pressure abnormal point based on the plantar pressure distribution;
Obtaining the trajectory of the center of gravity and the angle change of the ankle joint based on the trajectory function of the center of gravity and the angle function of the joint;
And comparing the gravity center track and the ankle joint angle with the standard gravity center track range and the standard bare joint angle range, taking the gravity center track and the angle which exceed the standard range as the abnormal gravity center track and the abnormal ankle joint angle, and if the time of the abnormal gravity center track and the abnormal ankle joint angle exceeds a threshold value, considering that an abnormal movement mode exists.
In a preferred embodiment, the foot biomechanical model is:
f(D,E,U,V)=D·(E×U)+V·E;
Wherein f (D, E, U, V) is the biomechanical value of the foot,
In a preferred embodiment, 3D printing of the footbed based on the mechanical analysis results and the foot biomechanical model comprises:
Determining a contour shape of the insole based on the foot length, foot width, and foot volume of the foot geometry;
the pressure concentration area is a supporting area of the insole;
The pressure abnormal point is a damping area of the insole;
If the abnormal movement mode exists, the thickness of the insole is processed according to a reduced fixed value;
if the biomechanical value of the foot is smaller than a first threshold, EVA materials are selected, if the biomechanical value of the foot is larger than or equal to the first threshold and smaller than a second threshold, PU materials are selected, and if the biomechanical value of the foot is larger than the second threshold, silica gel materials are selected.
In a second aspect of the present invention, a personalized insole making system based on three-dimensional motion capture and 3D printing is presented, the system comprising:
the data acquisition module is used for acquiring foot data of a target, wherein the foot data comprise static foot scanning data, sole pressure data under a dynamic force measuring plate, three-dimensional motion track data captured by Vicon three-dimensional motion, foot surface myoelectricity data and Zebris measured sole dynamic pressure distribution data;
the preprocessing module is used for preprocessing the foot data of the target to obtain preprocessed foot data;
The data feature extraction module is used for carrying out feature extraction on the preprocessed foot data to obtain foot features, wherein the foot features comprise data source features;
The data analysis module is used for constructing comprehensive feature vectors of all foot features based on the data source features of all foot features, carrying out mechanical analysis on the target based on the data source features to obtain a mechanical analysis result, and carrying out multi-mode fusion on all the comprehensive feature vectors by utilizing an algorithm to obtain a foot biomechanical model;
and the 3D printing module is used for carrying out 3D printing on the insole based on the mechanical analysis result and the foot mechanical model.
The invention has the beneficial effects that:
(1) The invention realizes the comprehensive quantitative analysis of the foot motion state by combining static foot scanning and dynamic data acquisition, provides scientific and objective data support, and guides the design and manufacture of personalized insoles;
(2) The invention provides multi-dimensional data comprehensive analysis, which is to fuse static scanning, dynamic force measuring plates, vicon motion capture, sEMG and Zebris dynamic pressure data and provide comprehensive biomechanical analysis. And then, functional design is carried out, namely, a targeted insole design is provided according to different functional requirements of shoes, and the comfort and the functionality are improved. And secondly, personalized customization is carried out, namely, a highly personalized insole scheme is provided according to the specific requirements of patients and the data analysis result. Finally, simulating a real scene by comprehensive dynamic data acquisition and analysis, so as to ensure the performance of the insole in various actual use conditions;
(3) Through accurate foot scanning and data analysis, a unique insole can be created for each user to meet their specific gait and biomechanical needs. Such customized services not only promote comfort, but also prevent and correct some foot problems.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
The invention provides a method for manufacturing a personalized insole by three-dimensional motion capture and 3D printing, which comprises the following steps:
The method comprises the steps of acquiring foot data of a target, wherein the foot data comprise static foot scanning data, plantar pressure data under a dynamic force measuring plate, three-dimensional motion track data captured by Vicon three-dimensional motion, foot surface myoelectricity data and plantar dynamic pressure distribution data measured by Zebris;
Preprocessing the foot data of the target to obtain preprocessed foot data;
extracting features of the preprocessed foot data to obtain foot features, wherein the foot features comprise data source features;
Constructing comprehensive feature vectors of all foot features based on the data source features of all foot features, carrying out mechanical analysis on the targets based on the data source features to obtain mechanical analysis results;
And 3D printing of the insole is performed based on the mechanical analysis result and the foot mechanical model.
In order to more clearly describe the personalized insole manufacturing method based on three-dimensional motion capture and 3D printing of the present invention, the following description of each step in the embodiment of the present invention will be provided in detail with reference to fig. 1.
The personalized insole manufacturing method based on three-dimensional motion capturing and 3D printing of the first embodiment of the invention comprises the following steps of:
The method comprises the steps of acquiring foot data of a target, wherein the foot data comprise static foot scanning data, plantar pressure data under a dynamic force measuring plate, three-dimensional motion track data captured by Vicon three-dimensional motion, foot surface myoelectricity data and plantar dynamic pressure distribution data measured by Zebris;
In the embodiment, the method for acquiring foot data of the target comprises the steps of carrying out static scanning on the foot of the target, carrying out accurate measurement on foot arch height, foot length and foot width parameters of the target to acquire static foot scanning data, recording pressure distribution conditions of the sole of the foot through the force measuring plate based on the moving type of the target on the dynamic force measuring plate, capturing pressure changes in an asynchronous state to acquire sole pressure data, using a Vicon system to install reflective mark points at a plurality of key points of the foot, lower limb and trunk of the target, capturing three-dimensional movement track data through a camera, installing surface myoelectric electrodes on muscle groups of the foot and lower limb of the target, recording muscle movement conditions, acquiring foot surface myoelectric data based on the muscle movement conditions, recording dynamic pressure distribution of the sole through a high-precision pressure sensor based on the moving of the target on the Zebris pressure measuring system, and acquiring dynamic sole pressure distribution data. Scanning the foot may be a time-of-flight scanner, laser scanner, optical projector, ultrasonic scanner;
Preprocessing the foot data of the target to obtain preprocessed foot data;
In this embodiment, preprocessing the target foot data to obtain preprocessed foot data includes performing a filtering process on the foot data using a filtering technique to obtain filtered foot data, and performing a time synchronization process on the filtered foot data from different devices to obtain preprocessed foot data.
Extracting features of the preprocessed foot data to obtain foot features, wherein the foot features comprise data source features;
In this embodiment, the individual foot features are static foot features, dynamic pressure features, kinematic features, and myoelectrical features, respectively.
Extracting the characteristics of the preprocessed foot data to obtain various foot characteristics, wherein the foot characteristics are extracted based on the preprocessed static foot scanning data, and the data source characteristics of the foot geometrical characteristics comprise arch height, foot length, foot width and foot volume;
In the embodiment, dynamic pressure characteristics are extracted based on the preprocessed plantar pressure data and the preprocessed plantar dynamic pressure distribution data, and the data source characteristics of the dynamic pressure characteristics comprise plantar pressure distribution, a gravity center track function and a pressure peak value;
The gravity center track function is as follows:
Wherein T is time, T is time from one foot to the next foot to land again, A is distance of the center of gravity deviating from the center line at maximum in each gait cycle, Y (T) is a gravity track angle, and kinematic features are extracted based on preprocessed three-dimensional motion track data, wherein the data source features of the kinematic features comprise gait cycle, stride, step frequency and ankle joint angle change functions;
in this embodiment, the joint angle change function is:
Wherein θankle(t) is the change of the ankle angle with time, aankle is the maximum amplitude of the ankle angle change, phiankle is the phase offset, θankle_offset is the basic angle of the ankle, T is the time, T is the time from one foot to the next foot to be grounded again, and myoelectricity characteristics are extracted based on the preprocessed myoelectricity data on the surface of the foot, and comprise myoelectricity activity level characteristics, myoelectricity time sequence characteristics and muscle synergy degree characteristics.
Constructing comprehensive feature vectors of all foot features based on the data source features of all foot features, carrying out mechanical analysis on the targets based on the data source features to obtain mechanical analysis results;
in this embodiment, constructing the integrated feature vector of each foot feature based on the data source features of each foot feature specifically includes:
The comprehensive characteristic vector of the geometrical characteristics of the foot is D= (D1,D2,D3,D4), the comprehensive characteristic vector of the dynamic pressure characteristic is E= (Y1, 1), the comprehensive characteristic vector of the kinematic characteristic is U= (U1,U2,U3, 1), the comprehensive characteristic vector of the myoelectric characteristic is V= (V1,V2,V3, 1), wherein D1,D2,D3,D4 is the height of the foot arch, the length of the foot, the width of the foot and the volume of the foot respectively, Y1 is the pressure peak, U1,U2,U3 is the gait cycle, the stride and the stride frequency respectively, and V1,V2,V3 is the myoelectric activity level characteristic, the myoelectric time sequence characteristic and the muscle synergy degree characteristic respectively;
In this embodiment, performing mechanical analysis on the target based on the data source feature to obtain a mechanical analysis result includes:
The method comprises the steps of obtaining a pressure concentration area and pressure abnormal points based on the plantar pressure distribution, obtaining a gravity center track and ankle joint angle change based on the gravity center track function and the joint angle function, comparing the gravity center track and the ankle joint angle with a standard gravity center track range and a standard naked joint angle range, taking the gravity center track and the angle which exceed the standard range as an abnormal gravity center track and an abnormal ankle joint angle, and considering that an abnormal movement mode exists if the time of the abnormal gravity center track and the abnormal ankle joint angle exceeds a threshold value.
In this embodiment, the foot biomechanical model is:
f(D,E,U,V)=D·(E×U)+V·E;
Wherein f (D, E, U, V) is the biomechanical value of the foot.
And 3D printing of the insole is performed based on the mechanical analysis result and the foot mechanical model.
After the insole is printed out, the insole can be tried on and adjusted, wherein a patient tries on the customized insole, performs dynamic data acquisition, evaluates the actual effect of the insole and adjusts according to feedback. And finally evaluating, namely performing try-on and data acquisition on the regulated insoles again, and confirming the final effect of the insoles to ensure that the insoles meet individual requirements.
In this embodiment, performing 3D printing of the footbed based on the mechanical analysis result and the foot biomechanical model includes:
The method comprises the steps of determining the outline shape of an insole based on the foot length, the foot width and the foot volume of the geometrical characteristics of the foot, wherein the pressure concentration area is a supporting area of the insole, the pressure abnormal point is a damping area of the insole, the thickness of the insole is processed according to a reduced fixed value if an abnormal movement mode exists, EVA materials are selected if the biomechanical value of the foot is smaller than a first threshold value, PU materials are selected if the biomechanical value of the foot is larger than or equal to the first threshold value and smaller than a second threshold value, and silica gel materials are selected if the biomechanical value of the foot is larger than the second threshold value.
According to biomechanical analysis values, the design parameters of the insole, such as support areas, damping areas, pressure distribution optimization and the like, are determined. Functional design, namely, according to different shoe functional requirements (such as sports shoes, casual shoes, working shoes and the like), targeted functional design such as shock absorption, skid resistance, support and the like is carried out. And selecting a proper 3D printing material according to design requirements, so as to ensure the comfort and the functionality of the insole.
The method can also be used for manufacturing the insole of sports shoes, the insole of leisure shoes and the insole of working shoes according to the biomechanical values of the feet, and the insole with specific supporting, damping and anti-skidding functions is designed for athletes through the system for data acquisition and analysis. After the patient tries on, the insole is finely adjusted through data acquisition and analysis again, so that the most suitable personalized sports shoe insole is finally obtained, the sports performance is improved, and the sports injuries are reduced. For daily wear, data acquisition and analysis are carried out through the system, and the insole with comfortableness and air permeability is designed. After the patient tries on, the insole is finely adjusted through data acquisition and analysis again, so that the most suitable personalized casual shoe insole is finally obtained, and the comfort level of daily wearing is improved. For the working population standing or walking for a long time, the system is used for data acquisition and analysis, and the insole with high durability and decompression function is designed. After the patient tries on, the insole is finely adjusted by data acquisition and analysis again, so that the insole of the personalized working shoe which is most suitable is finally obtained, and the fatigue and pain of the foot are reduced.
Although the steps are described in the above-described sequential order in the above-described embodiments, it will be appreciated by those skilled in the art that in order to achieve the effects of the present embodiments, the steps need not be performed in such order, and may be performed simultaneously (in parallel) or in reverse order, and such simple variations are within the scope of the present invention.
A third embodiment of the present invention provides a personalized insole making system based on three-dimensional motion capture and 3D printing, the system comprising:
the data acquisition module is used for acquiring foot data of a target, wherein the foot data comprise static foot scanning data, sole pressure data under a dynamic force measuring plate, three-dimensional motion track data captured by Vicon three-dimensional motion, foot surface myoelectricity data and Zebris measured sole dynamic pressure distribution data;
the preprocessing module is used for preprocessing the foot data of the target to obtain preprocessed foot data;
The data feature extraction module is used for carrying out feature extraction on the preprocessed foot data to obtain foot features, wherein the foot features comprise data source features;
The data analysis module is used for constructing comprehensive feature vectors of all foot features based on the data source features of all foot features, carrying out mechanical analysis on the target based on the data source features to obtain a mechanical analysis result, and carrying out multi-mode fusion on all the comprehensive feature vectors by utilizing an algorithm to obtain a foot biomechanical model;
and the 3D printing module is used for carrying out 3D printing on the insole based on the mechanical analysis result and the foot mechanical model.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above and the related description may refer to the corresponding process in the foregoing method embodiment, which is not repeated here.
It should be noted that, in the personalized insole making system based on three-dimensional motion capturing and 3D printing provided in the foregoing embodiments, only the division of the foregoing functional modules is illustrated, in practical application, the foregoing functional allocation may be completed by different functional modules according to needs, that is, the modules or steps in the foregoing embodiments of the present invention are further decomposed or combined, for example, the modules in the foregoing embodiments may be combined into one module, or may be further split into a plurality of sub-modules, so as to complete all or part of the functions described above. The names of the modules and steps related to the embodiments of the present invention are merely for distinguishing the respective modules or steps, and are not to be construed as unduly limiting the present invention.
An electronic device of a third embodiment of the invention comprises at least one processor and a memory in communication with at least one processor, wherein the memory stores instructions executable by the processor for execution by the processor to implement the personalized insole making method based on three-dimensional motion capture and 3D printing described above.
A fourth embodiment of the present invention is a computer-readable storage medium storing computer instructions for execution by the computer to implement the above-described personalized insole making method based on three-dimensional motion capture and 3D printing.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working processes of the electronic device and the storage medium described above and related descriptions may refer to corresponding processes in the foregoing method embodiments, which are not repeated herein.
Those of skill in the art will appreciate that the various illustrative modules, method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the program(s) corresponding to the software modules, method steps, may be embodied in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Those skilled in the art may implement the described functionality using different approaches for each particular application, but such implementation is not intended to be limiting.
Reference is now made to FIG. 2, which illustrates a schematic diagram of a computer system for a server that implements embodiments of the methods, systems, and apparatus of the present application. The server illustrated in fig. 2 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 2, the computer system includes a central processing unit (CPU, central Processing Unit) 601 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage portion 608 into a random access Memory (RAM, random Access Memory) 603. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other through a bus 604. An Input/Output (I/O) interface 605 is also connected to bus 604.
Connected to the I/O interface 605 are an input section 606 including a keyboard, a mouse, and the like, an output section 607 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), a Liquid CRYSTAL DISPLAY, and a speaker, a storage section 608 including a hard disk, and the like, and a communication section 609 including a network interface card such as a LAN (local area network) card, a modem, and the like. The communication section 609 performs communication processing via a network such as the internet. The drive 610 is also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 609, and/or installed from the removable medium 611. The above-described functions defined in the method of the present application are performed when the computer program is executed by a Central Processing Unit (CPU) 601. The computer readable medium of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of a computer-readable storage medium may include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The terms "first," "second," and the like, are used for distinguishing between similar objects and not for describing a particular sequential or chronological order.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus/apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus/apparatus.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.