Claims:We claim:

1. A control system to determine amount of debris in an industrial plant, the control system comprising:
one or more transmitter stack comprising a plurality of transmitters, wherein each of the transmitter stack is configured to transmit signals;
one or more receiver stack comprising a plurality of receivers, wherein each of the receiver stack is configured to receive the signals transmitted by the one or more transmitter stack;
and
a computing unit configured to:
receive information from the one or more receiver stack, about reception of the signals transmitted by the corresponding transmitter stack, to detect the debris between the one or more transmitter stack and the one or more receiver stack, and determine a contour of the debris; and
determine an amount of the debris based on the contour of the debris, wherein one or more alerts are generated based on the determination of the amount of debris.

2. The control system as claimed in claim 1, wherein the signals are Infra-Red (IR) signals.

3. The control system as claimed in claim 1, wherein the plurality of transmitters are IR transmitters and the plurality of receivers are IR receivers.

4. The control system as claimed in claim 3, wherein each transmitter of the one or more transmitter stack is configured to transmit the IR signals to the plurality of receivers of corresponding receiver stack.

5. The control system as claimed in claim 1, wherein each transmitter in a transmitter stack and each receiver in a receiver stack is associated with a unique identity (ID).

6. The control system as claimed in claim 5, wherein the computing unit comprises a mapping table having, an association between the ID of each transmitter of the transmitter stack and a position of each transmitter in the transmitter stack, and an association between the ID of each receiver of the receiver stack and a position of each receiver in the receiver stack.

7. The control system as claimed in claim 1, wherein the computing unit determines the contour of the debris by:
identifying one or more receivers from the plurality of receivers of a receiver stack, that has received the signals transmitted by one or more of the plurality of transmitters of a corresponding transmitter stack, wherein the one or more receivers are identified using the unique ID;
determining the position associated with the one or more receivers using the mapping table;
and
generating a contour map based on the position of the one or more receivers to determine the contour of the debris.

8. The control system as claimed in claim 1, wherein the computing unit determine a volume of the debris using the contour of the debris, and further determine the amount of the debris using M = V * D, wherein M is the amount of the debris, V is the volume of the debris and D is the density of the debris.

9. The control system as claimed in claim 1, wherein the alert is generated by an alert unit when the amount of the debris is more than a predefined threshold value.

10. A method to determine amount of debris in an industrial plant, the method is performed by a control system comprising one or more transmitter stack wherein each transmitter stack comprising a plurality of transmitters, one or more receiver stack wherein each comprising a plurality of receivers and a computing unit, the method comprising:
transmitting, by the one or more transmitter stack, signals;
receiving, by the one or more receiver stack, the signals transmitted by the one or more transmitter stack to detect the debris;
receiving, by the computing unit, information from the one or more receiver stack, about reception of the signals transmitted by the one or more transmitter stack, to detect the debris between the one or more transmitter stack and the one or more receiver stack, and determine a contour of the debris; and
determining, by the computing unit, an amount of the debris based on the contour of the debris, wherein one or more alerts are generated based on the determination of the amount of debris.

11. The method as claimed in claim 10, wherein the signals are Infra-Red (IR) signals.

12. The method as claimed in claim 10, wherein the plurality of transmitters are IR transmitters and the plurality of receivers are IR receivers.

13. The method as claimed in claim 10, wherein each transmitter of the one or more transmitter stack is configured to transmit the IR signals to the plurality of receivers of corresponding receiver stack.

14. The method as claimed in claim 13, wherein a unique ID is associated with each transmitter in a transmitter stack and each receiver in a receiver stack.

15. The method as claimed in claim 10, comprises obtaining a mapping table having an association between the ID of each transmitter of the transmitter stack and a position of each transmitter in the transmitter stack, and an association between the ID of each receiver of the receiver stack and a position of each receiver in the receiver stack.

16. The method as claimed in claim 10, wherein determining the contour of the debris comprises:
identifying one or more receivers from the plurality of receivers of a receiver stack, that has received the signals transmitted by one or more of the plurality of transmitters of a corresponding transmitter stack, wherein the one or more receivers are identified using the unique ID;
determining the position associated with the one or more receivers using the mapping table;
and
generating a contour map based on the position of the one or more receivers to determine the contour of the debris.

17. The method as claimed in claim 10, comprises determining a volume of the debris using the contour of the debris, and further determining the amount of the debris using M = V * D, wherein M is the amount of the debris, V is the volume of the debris and D is the density of the debris.

18. The method as claimed in claim 10, wherein the one or more alerts are generated when the amount of the debris is more than a predefined threshold value.
, Description:
FORM 2
THE PATENTS ACT 1970
[39 OF 1970]
&
THE PATENTS RULES, 2003

COMPLETE SPECIFICATION
[See section 10 and Rule 13]

TITLE: “CONTROL SYSTEM TO DETERMINE AMOUNT OF DEBRIS IN AN INDUSTRIAL PLANT AND METHOD THEREOF”

Name and Address of the Applicant: TATA MOTORS LIMITED, an Indian company having its registered office at Bombay House, 24 Homi Mody Street, Hutatma Chowk, Mumbai 400 001, Maharashtra

Nationality: Indian

The following specification particularly describes the invention and the manner in which it is to be performed.
TECHNICAL FIELD
[001] The present disclosure relates in general to control systems for industrial/ process plants. More specifically, the present disclosure relates to determine amount of debris in industrial/ process plants.

BACKGROUND
[002] An industrial/ process plant comprises different industrial and equipment. Operating the industrial/ process plants requires raw materials and process materials. Debris is imminent in such industries and often debris is cleared by scheduling maintenance activity. Typically, debris can include metal chips, scrap lumber, chemicals, sand, etc. Currently, maintenance personnel investigate the debris in the industrial/ process plants and manually clear the debris.

[003] More often, debris is settled in places such as roof tops of the plant where maintenance personnel do not have easy access. In such scenarios, timely investigations cannot be performed and much debris gets accumulated. For example, when much debris gets accumulated on roof tops of the plant, the roof may collapse due to weight of the debris. Further, inspecting roof tops is risky for maintenance personnel.

[004] Hence, there is a need for a solution for timely inspecting debris across places in industrial/ process plants and enable timely maintenance activity.

[005] The information disclosed in this background of the disclosure section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

SUMMARY
[006] In an embodiment, the present disclosure relates to a control system to determine amount of debris in an industrial/ process plant. The control system comprises one or more transmitter stack comprising a plurality of transmitters, where each of the transmitter stack is configured to transmit signals. The control system further comprises one or more receiver stack comprising a plurality of receivers, where each of the receiver stack is configured to receive the signals transmitted by the one or more transmitter stack. The control system also comprises a computing unit configured to receive information from the one or more receiver stack, about reception of the signals transmitted by the one or more transmitter stack, to detect the debris between the one or more transmitter stack and the one or more receiver stack, and determine a contour of the debris and determine an amount of the debris based on the contour of the debris, where one or more alerts are generated based on the determination of the amount of debris.
[007] In an embodiment, the present disclosure relates to a method to determine amount of debris in an industrial plant. The method is performed by a control system comprising one or more transmitter stack where each transmitter stack comprising a plurality of transmitters, one or more receiver stack wherein each comprising a plurality of receivers and a computing unit. The method comprises transmitting, by the one or more transmitter stack, signals.
Further, the method comprises receiving, by the one or more receiver stack, the signals transmitted by the one or more transmitter stack to detect the debris. Thereafter, the method comprises receiving, by the computing unit, information from the one or more receiver stack, about reception of the signals transmitted by the one or more transmitter stack, to detect the debris between the one or more transmitter stack and the one or more receiver stack, and determine a contour of the debris. Further, determining an amount of the debris based on the contour of the debris, where one or more alerts are generated based on the determination of the amount of debris.

[008] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description.

BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS
[009] The novel features and characteristic of the disclosure are set forth in the appended claims. The disclosure itself, however, as well as a preferred mode of use, further objectives and advantages thereof, will best be understood by reference to the following detailed description of an illustrative embodiment when read in conjunction with the accompanying figures. One or more embodiments are now described, by way of example only, with reference to the accompanying figures wherein like reference numerals represent like elements and in which:

[0010] Figure 1 shows a block diagram of a control system to determine debris in an industrial/ process plant, in accordance with an embodiment of the present disclosure;

[0011] Figure 2a and Figure 2b illustrates exemplary configurations of transmitter stack and receiver stack in an industrial/ process plant, in accordance with an embodiment of the present disclosure;

[0012] Figure 3 illustrates an exemplary set of transmitter stack and receiver stack to determine amount of debris in an industrial/ process plant, in accordance with an embodiment of the present disclosure;

[0013] Figure 4 is an exemplary flow chart illustrating method steps to determine amount of debris in an industrial/ process plant, in accordance with an embodiment of the present disclosure; and

[0014] Figure 5 shows an exemplary simulation of contour of debris for determining amount of debris in an industrial/ process plant, , in accordance with an embodiment of the present disclosure.

[0015] It should be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative systems embodying the principles of the present subject matter. Similarly, it will be appreciated that any flow charts, flow diagrams, state transition diagrams, pseudo code, and the like represent various processes which may be substantially represented in computer readable medium and executed by a computer or processor, whether or not such computer or processor is explicitly shown.

[0016] DETAILED DESCRIPTION
[0017] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0018] While the disclosure is susceptible to various modifications and alternative forms, specific embodiment thereof has been shown by way of example in the drawings and will be described in detail below. It should be understood, however that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternative falling within the scope of the disclosure.

[0019] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus proceeded by “comprises… a” does not, without more constraints, preclude the existence of other elements or additional elements in the system or apparatus.

[0020] Embodiments of the present disclosure relate to a control system and method to determine amount of debris in an industrial/ process plant. The control system comprises one or more transmitter stack, one or more receiver stack and a computing unit. Each transmitter stack comprises a plurality of transmitters and each receiver stack comprises a plurality of receivers. Each transmitter of a transmitter stack transmits signals to the plurality of receivers of a corresponding receiver stack. Further, each receiver stack sends the received information to the computing unit. The computing unit determines which receiver among the plurality of receiver has received and/ or not received the signals from the plurality of transmitters to determine a contour and height of the debris. Using the contour and debris, the computing unit determines an amount of debris in the industrial/ process plant.

[0021] Figure 1 shows a block diagram of a control system (100) to determine debris in an industrial/ process plant. In an embodiment, the proposed control system (100) can be implemented in industrial plants and process plants. As shown in Figure 1, the control system (100) comprises one or more transmitter stack (101), one or more receiver stack (102), a computing unit (103) and an alert unit (104). Although Figure 1 shows one transmitter stack (101) and one receiver stack (102), it will be apparent that a plurality of transmitter stack and a plurality of receiver stack can be implemented as well, and the plurality of transmitter stack and a plurality of receiver stack is envisaged under the present disclosure. Each transmitter stack (e.g., 101) comprises a plurality of transmitters (101a, …, 10n) and each receiver stack (e.g., 102) comprises a plurality of receivers (102a, …, 102n). The plurality of transmitters (101a, …, 101n) are configured to transmit signals and the plurality of receivers (102a, …, 102n) are configured to receive the transmitted signals. In an embodiment, the plurality of transmitters (101a, …, 101n) are Infra-Red (IR) transmitters and the plurality of receivers (102a, …, 102n) are IR receivers, and consequently the signals are IR signals. In an embodiment, each transmitter stack (e.g., 101) is associated with a corresponding receiver stack (e.g., 102). The one or more transmitter stack (101) and the one or more receiver stack (102) are connected to the computing unit (103). In an embodiment, the one or more transmitter stack (101) and the one or more receiver stack (102) are connected via wired means or wireless means. For example, the one or more transmitter stack (101) and the one or more receiver stack (102) are connected via a Wireless Fidelity (Wi-Fi) module, a ZigBee module, a Bluetooth module, an Ethernet, a Universal Serial Bus (USB), RS-232 and the like.

[0022] In an embodiment, the computing unit (103) may be Application Specific Integrated Circuit (ASIC), an electronic circuit, a Field-Programmable Gate Arrays (FPGA), Programmable System-on-Chip (PSoC), a combinational logic circuit, and/or other suitable components like a server, a personal computer, a laptop, a mobile device or the like that provide the described functionality. The computing unit (103) receives information from the one or more receiver stack (102) about reception of the signals transmitted by the corresponding transmitter stack (101) to detect the debris between the transmitter stack (101) and the receiver stack (102). Further, the computing unit (103) determines a contour and height of the debris from the information received from the one or more receiver stack (102). Using the contour and height, the computing unit (103) determines an amount of debris deposited between the one or more transmitter stack (101) and the one or more receiver stack (102). Thereafter, the computing unit (103) generates an alert when the amount of the debris is more than a pre-defined threshold value. In an embodiment, the alert unit (104) may be part of the computing unit (103) such as a speaker of a laptop or a standalone unit, like a hooter. In an embodiment, the alert unit (104) may provide audio/ visual alerts or text alerts.

[0023] Figure 2a and Figure 2b illustrates exemplary configurations of the one or more transmitter stack (101) and the one or more receiver stack (102) in an industrial/ process plant. As seen in the Figure 2a, the one or more transmitter stack (101) and the one or more receiver stack (102) are arranged in a rectangular pattern covering a region (201) (e.g., roof) of the industrial/ process plant. With such an arrangement, the debris can be detected anywhere in the roof (201). In an embodiment, the arrows represent the signals transmitted by the one or more transmitter stack (101) to the one or more receiver stack (102). Figure 2b shows yet another arrangement of the one or more transmitter stack (101) and the one or more receiver stack (102). As seen in the Figure 2, a circular arrangement can be employed in the roof (201). The one or more transmitters (101) are placed at a centre of the roof (201) and the one or more receivers (102) are placed at a periphery of the roof (201). In an embodiment, the one or more receivers (102) may be placed at the centre of the roof (201) and the one or more transmitter stack (101) may be placed at the periphery of the roof (201). The one or more transmitter stack (101) are configured to transmit the signals to the corresponding receiver stack (102). Therefore, the debris between any transmitter stack (101) and corresponding receiver stack (102) is detected and an amount of the debris is determined using information from the receiver stack (102). In one embodiment, a single receiver stack (101) may be configured to receive signals from more than one transmitter stack (102) placed at different location.

[0024] Figure 3 illustrates an exemplary pair of the transmitter stack (101) and the receiver stack (102) to determine amount of debris in an industrial/ process plant. As shown in the Figure 3, an exemplary pair of the transmitter stack (101) and the receiver stack (102) are used to determine the amount of debris between the pair. In an embodiment, as shown in Figure 3, each transmitter stack (101) comprises the plurality of transmitters (101a, …, 101n) and each receiver stack (102) comprises the plurality of receivers (102a, …, 102n). In an embodiment, the plurality transmitters (101a, …, 101n) and the plurality of receivers (102a,…, 102n) may be stacked vertically. The vertical stacking is used to determine the height of the debris. In scenarios where width of the debris is required, horizontal stacking may be employed, an accordingly, the amount of debris may be determined. Each of the plurality of transmitters (101a, …, 101n) is configured to transmit the signals to the plurality of receivers (102a, …, 102n) of the corresponding receiver stack (102). An exemplary representation of debris (301) is shown between the transmitter stack (101) and the receiver stack (102). As shown in Figure 3, each transmitter from the plurality of transmitters (101a, …101f) transmit the signals (represented by arrows) to the plurality of receivers (1021, …, 102f). Further, as shown, the signals transmitted by few of the transmitters (e.g., 101f) towards few of the receivers (e.g., 102f) are obstructed by the debris (301), and the signals transmitted by few transmitters (e.g., 101a) are received by few receivers (e.g., 102a). The number of transmitters and receivers in the transmitter stack (101) and the receiver stack (102) may vary depending on the type of debris (301) and the type of industrial/ process plant, and the number of transmitters and receivers may be scaled accordingly. Using the information of the plurality of receivers (102a, …, 102f), the contour and height of the debris (301) is determined, and thereafter the amount of debris (301) is determined by the computing unit (103).

[0025] Figure 4 is an exemplary flow chart (400) illustrating method steps to determine amount of debris (301) in an industrial/ process plant.

[0026] As illustrated in Figure 4, the method (400) may comprise one or more steps. The method (400) may be described in the general context of computer executable instructions. Generally, computer executable instructions can include routines, programs, objects, components, data structures, procedures, modules, and functions, which perform particular functions or implement particular abstract data types.

[0027] The order in which the method (400) is described is not intended to be construed as a limitation, and any number of the described method blocks can be combined in any order to implement the method. Additionally, individual blocks may be deleted from the methods without departing from the spirit and scope of the subject matter described herein. Furthermore, the method can be implemented in any suitable hardware, software, firmware, or combination thereof.

[0028] At step (401), the one or more transmitter stack (101) transmits signals towards the corresponding receiver stack (102). As described in Figure 3, the plurality of the transmitters (101a, …, 101f) of the transmitter stack (101) transmit the signals towards the plurality of receivers (102a, …, 102f) of the receiver stack (102).

[0029] At step (402), the one or more receiver stack (102) receives the signals transmitted by the corresponding transmitter stack (101). In an embodiment, successful reception of the signals by the plurality of receivers (102a, …, 102f) indicates there is no debris between the transmitter stack (101) and the receiver stack (102). In one embodiment, when few receivers (receivers at the bottom) do not receive the signals and few receivers (receivers at the top) of the receiver stack (102) receives the signals, it is an indication of debris between the transmitter stack (101) and the receiver stack (102).

[0030] At step (403), the computing unit (103) receives information from the one or more receiver stack (102) about the reception of the signals transmitted by the corresponding transmitting stack (101). The computing unit (103) detects the debris between the one or more transmitter stack (101) and the one or more receiver stack (102) as described in the above para. In one embodiment, the computing unit (103) comprises a unique identity (ID) of each stack (transmitter and receiver) and unique ID of each transmitter and receiver in a transmitter stack (101) and receiver stack (102). In an embodiment, the unique ID may be a specific frequency of each transmitter-receiver pair or a specific payload data associated with the information provided by each receiver. For example, the information provided by a receiver comprises the ID of the receiver stack, the ID of the receiver, the ID of the corresponding transmitter stack and the ID of each transmitter the receiver has received the signals. Further, the computing unit (103) may also comprise physical location of each stack (transmitter and receiver) on the region (201) and a height of each transmitter and receiver in each transmitter stack (101) and the receiver stack (102). In one embodiment, the above details may be stored in the computing unit (103) during installation/ configuration of the control system (100).

[0031] The computing unit (103) is configured to detect the debris between a transmitter stack (101) and a receiver stack (102) when bottom receivers (e.g., 102d, 102e, 102f) do not receive the signals transmitted by the corresponding transmitting stack (101) and the top receivers (e.g., 102a, 102b, 102c) receive the signals. Such a pattern of information from the receiving stack (102) indicates a presence of debris between the transmitting stack (101) and the receiving stack (102). The present disclosure does not limit the scope of the invention to the above mentioned pattern alone. It is apparent that different patterns can be identified and analysed to detect the debris. For example, as shown in Figure 3, a pattern of receiving the signals from all the transmitters (101a, …, 101f) may be considered to detect the debris. The above pattern is described only as an example and should not be construed as a limitation. Further, using the information from the one or more receiver stack (102), the computing unit (103) determines the contour and height of the debris. For example, when the debris is a shape of a heap, the signal transmitted by certain transmitters are not received by certain receivers. Likewise, for different pattern of the debris, different receivers receive and/ or do not receive the signals. Hence, using the information about which receiver has received the signal and which receiver has not received the signal, the contour of the debris is determined.

[0032] Referring back to the Figure 3, the debris (301) has a specific contour. The contour is determined using the signals received from the plurality of receivers (102a, …, 102f). In an embodiment, the computing unit comprises a mapping table having an association of ID of each transmitter/ receiver and a height at which the transmitter/ receiver is stacked in the respective stack. In the Figure 3, the height of the plurality of transmitters (101a, …, 101f) and the height of the plurality of receivers (102a, …, 102f) are associated with respective IDs in the mapping table. The mapping table may be stored in the computing unit (103) during installation or configuration of the control system (100). The computing unit (103) determines the height of the debris using the mapping table. Further, the computing unit (103) determines the contour of the debris by identifying one or more receivers (e.g., 102a, 102b, 102c) from the plurality of receivers (102a, …, 102f) of the receiver stack (102), that has received the signals transmitted by one or more of the plurality of transmitters (101a, …, 101f) of the corresponding transmitter stack (101). The one or more receivers (e.g., 102a, 102b, 102c) are identified using the unique ID. Further, the computing unit (103) determines the position associated with the one or more receivers using the mapping table. Thereafter, the computing unit (103) generates a contour map based on the position of the one or more receivers to determine the contour of the debris. Figure 5 shows an exemplary simulation of contour map for determining amount of debris in an industrial/ process plant. As shown in Figure 5, the contour map indicates the shape and size of the debris. The contour and height of the debris provides the volume of the debris. The volume of the debris is used to determine the amount of debris.

[0033] Once the volume of the debris is determined, the amount of debris is determined. In an industrial/ process plant, the type of debris that gets settled in regions is well known. Hence, the properties of the debris are pre-determined. For example, properties like density of the debris can be pre-determined. Therefore, using the density and the volume, the amount (mass) of the debris is determined using the formula M = V * D, where M is the mass of the debris, V is the volume of the debris and D is the density of the debris. Thus, the computing unit (103) determines the mass of the debris using the above equation. Thereafter, the computing unit (103) compares the mass of the debris with a predefined threshold value. When the mass of the debris is more than the predefined threshold value, an alert is generated using the alert unit (104). The alert enables scheduling timely maintenance activities. Therefore, the debris can be timely cleared and the structures of the industrial/ process plant is secured. Also, the control system (100) provides automated way of monitoring the amount of debris. Therefore, manual intervention is avoided and maintenance personnel are safe from hazards. In an embodiment, the computing unit (103) may automatically schedule the maintenance activities when the alert is generated.

[0034] The terms "an embodiment", "embodiment", "embodiments", "the embodiment", "the embodiments", "one or more embodiments", "some embodiments", and "one embodiment" mean "one or more (but not all) embodiments of the invention(s)" unless expressly specified otherwise.

[0035] The terms "including", "comprising", “having” and variations thereof mean "including but not limited to", unless expressly specified otherwise.

[0036] The enumerated listing of items does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. The terms "a", "an" and "the" mean "one or more", unless expressly specified otherwise.

[0037] A description of an embodiment with several components in communication with each other does not imply that all such components are required. On the contrary a variety of optional components are described to illustrate the wide variety of possible embodiments of the invention.

[0038] When a single device or article is described herein, it will be readily apparent that more than one device/article (whether or not they cooperate) may be used in place of a single device/article. Similarly, where more than one device or article is described herein (whether or not they cooperate), it will be readily apparent that a single device/article may be used in place of the more than one device or article or a different number of devices/articles may be used instead of the shown number of devices or programs. The functionality and/or the features of a device may be alternatively embodied by one or more other devices which are not explicitly described as having such functionality/features. Thus, other embodiments of the invention need not include the device itself.

[0039] The illustrated operations of Figure 4 shows certain events occurring in a certain order. In alternative embodiments, certain operations may be performed in a different order, modified or removed. Moreover, steps may be added to the above described logic and still conform to the described embodiments. Further, operations described herein may occur sequentially or certain operations may be processed in parallel. Yet further, operations may be performed by a single processing unit or by distributed processing units.

[0040] Finally, the language used in the specification has been principally selected for readability and instructional purposes, and it may not have been selected to delineate or circumscribe the inventive subject matter. It is therefore intended that the scope of the invention be limited not by this detailed description, but rather by any claims that issue on an application based here on. Accordingly, the disclosure of the embodiments of the invention is intended to be illustrative, but not limiting, of the scope of the invention, which is set forth in the following claims.

[0041] While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.

REFERRAL NUMERALS:
Reference number Description
100 Control system
101 Transmitter stack
102 Receiver stack
103 Control system
104 Alert unit
201 Region
301 Debris