Claims:
1. A gripper assembly (100) for attaching a payload (150) to an unmanned aerial vehicle (UAV) (200), comprising:
one or more arm clamps (102a-d) for connecting the gripper assembly (100) to one or more arms (202a-d) of the UAV (200);
one or more rod assemblies (104a-d) for connecting an upper face (106a) of a camera plate (106) with the one or more arm clamps (102a-d), wherein each rod assembly of the one or more rod assemblies (104a-d) comprises:
a first end (108a) and a second end (108b), wherein the first end (108a) of each rod assembly is connected to an arm clamp of the one or more arm clamps using a first ball and socket joint (110a), and wherein the second end (108b) of each rod assembly comprises a second ball and socket joint (110b) to fix relative position of the arm clamp with respect to the corresponding rod assembly such that the arm clamp is aligned with an arm of the one or more arms of the UAV (200);
a camera holder (112) attached to a lower face (106b) of the camera plate (106), wherein the camera holder (112) is configured to hold a camera (114), and wherein the camera (114) is a downward facing camera for capturing live feed of bottom when the gripper assembly (100) is operational;
a spacer plate (116) attached to the camera plate (106) using one or more spacers (116a-d), wherein each spacer of the one or more spacers is attached at a corner of the camera plate (106), and wherein the spacer plate (116) comprises a first opening (118a); and
a base plate (120) attached to the spacer plate (116) using a plurality of spring bolts (122a-h), wherein the base plate (120) comprises a plurality of electro-permanent magnets (EPMs) (124a-e) arranged in a pre-defined formation for carrying the payload (150) by getting attached to the payload (150), and a second opening (118b),
wherein the first opening (118a) in the spacer plate (116) and the second opening (118b) in the base plate (120) allows the camera (114) to have an obstructed view of bottom before picking of the payload (150) by the UAV (200), wherein the pre-defined formation of the EPMs (124a-e) enable coverage area of the EPMs (124a-e), thereby ensuring attachment of the payload (150) to the EPMs (124a-e), wherein the plurality of spring bolts (122a-h) that are used for attaching the base plate (120) to the spacer plate (116) acts as a suspension for the gripper assembly (100) such that the gripper assembly (100) remain stable while coming in contact with a hard surface during picking and placing of the payload (150) by the UAV (200), and wherein the one or more spacers (116a-d) provided between the camera plate (106) and the spacer plate (116) protect the camera (114) placed in the camera holder (112) from suspension effect received from the base plate (120).

2. The gripper assembly (100) of claim 1, further comprising at least one limit switch (126) attached on either side of each EPM of the plurality of EPMs (124a-e), wherein when the gripper assembly (100) is operational, the at least one limit switch (126) is configured to check whether the payload (150) is attached to at least one EPM of the plurality of EPMs (124a-e) and send feedback accordingly to a controller of the UAV (200).

3. The gripper assembly (100) of claim 1, wherein each rod assembly of the one or more rod assemblies comprises a first rod (128a) and a second rod (128b), wherein the first rod (128a) of each rod assembly is inserted inside the second rod (128b) of a respective rod assembly such that a telescopic mechanism is created between the first rod (128a) and the second rod (128b) of each rod assembly, and wherein the created telescopic mechanism is configured to enable adjustment of distance between the camera plate (106) and a body of the UAV (200).

4. The gripper assembly (100) of claim 1, further comprising a grip (130) for fixing position of the first ball and socket joint (110a) provided in the first end (108a) of each rod assembly.

5. The gripper assembly (100) of claim 1, wherein each arm clamp of the one or more arm clamps (102a-d) comprises an upper casing (132a) and a lower casing (132b) that are aligned around an arm of the one or more arms (202a-d) of the UAV (200), wherein each of the upper casing (132a) and the lower casing (132b) comprise a half rectangular outer case (134a-b) with at least one bolt hole (136) present at each side of the half rectangular outer case (134a-b), wherein the half rectangular outer case of each of the upper casing (132a) and the lower casing (132b) comprises a circular half ring (136a-b) for holding the arm of the UAV (200), and wherein the circular half ring present in each of the upper casing (132a) and the lower casing (132b) is attached together using a fixation component (138) to form a circular ring (140) to firmly grip the arm of the UAV (200) inside the circular ring (140).

, Description:FORM 2

THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENT RULES, 2003

COMPLETE SPECIFICATION
(See Section 10 and Rule 13)

Title of invention:
GRIPPER ASSEMBLY FOR ATTACHING A PAYLOAD TO AN UNMANNED AERIAL VEHICLE

Applicant:
Tata Consultancy Services Limited
A company Incorporated in India under the Companies Act, 1956
Having address:
Nirmal Building, 9th Floor,
Nariman Point, Mumbai 400021,
Maharashtra, India

The following specification particularly describes the invention and the manner in which it is to be performed
TECHNICAL FIELD
[001] The disclosure herein generally relates to unmanned aerial vehicles, and, more particularly, to a gripper assembly for attaching a payload to an unmanned aerial vehicle (UAV).

BACKGROUND
[002] In construction industry, unmanned aerial vehicles (UAVs) are used for various purposes, such as surveillance of construction site, maintenance inspections of high-up structures such as bridges, towers, roofs and scaffolding, building surveys etc. But the use of UAVs for transportation of goods is still in emerging phase as it involves a lot of challenges, such as firm attachment of a payload to the UAV, carrying the payload over long distance etc. Currently, gripper assemblies are used for gripping payloads with the help of the UAV. However, conventional gripper assemblies have very limited area of a magnetic step over the payload due to limited capacity. Further, the conventional gripper assemblies are not adjustable and flexible enough to connect with different kinds of drones having different number of arms.

SUMMARY
[003] Embodiments of the present disclosure present technological improvements as solutions to one or more of the above-mentioned technical problems recognized by the inventors in conventional systems. For example, in one aspect, there is provided a gripper assembly for attaching a payload to an unmanned aerial vehicle (UAV). The gripper assembly comprises one or more arm clamps for connecting the gripper assembly to one or more arms of the UAV; one or more rod assemblies for connecting an upper face of a camera plate with the one or more arm clamps, wherein each rod assembly of the one or more rod assemblies comprises a first end and a second end, wherein the first end of each rod assembly is connected to an arm clamp of the one or more arm clamps, and wherein the second end of each rod assembly comprises a ball and socket joint to fix relative position of the arm clamp with respect to the corresponding rod assembly such that the arm clamp is aligned with an arm of the one or more arms of the UAV; a camera holder attached to a lower face of the camera plate, wherein the camera holder is configured to hold a camera, and wherein the camera is a downward facing camera for capturing live feed of bottom when the gripper assembly is operational; a spacer plate attached to the camera plate using one or more spacers, wherein each spacer of the one or more spacers is attached at a corner of the camera plate, and wherein the spacer plate comprises a first opening; a base plate attached to the spacer plate using a plurality of spring bolts, wherein the base plate comprises a plurality of electro-permanent magnets (EPMs) arranged in a pre-defined formation for carrying the payload by getting attached to the payload and a second opening, wherein the first opening in the spacer plate and the second opening in the base plate allows the camera to have an obstructed view of bottom before picking of the payload by the UAV, wherein the pre-defined formation of the EPMs enable coverage area of the EPMs, thereby ensuring attachment of the payload to the EPMs, wherein the plurality of spring bolts that are used for attaching the base plate to the spacer plate acts as a suspension for the gripper assembly such that the gripper assembly remain stable while coming in contact with a hard surface during picking and placing of the payload by the UAV, and wherein the one or more spacers provided between the camera plate and the spacer plate protect the camera placed in the camera holder from suspension effect received from the base plate.
[004] The gripper assembly further comprises at least one limit switch attached on either side of each EPM of the plurality of EPMs, wherein when the gripper assembly is operational, the at least one limit switch is configured to check whether the payload is attached to at least one EPM of the plurality of EPMs and send feedback accordingly to a controller of the UAV.
[005] In an embodiment, each rod assembly of the one or more rod assemblies comprises a first rod and a second rod, wherein the second rod of each rod assembly is inserted inside the first rod of a respective rod assembly such that a telescopic mechanism is created between the first rod and the second rod of each rod assembly, and wherein the created telescopic mechanism is configured to enable adjustment of distance between the camera plate and a body of the UAV.
[006] The gripper assembly further comprises a grip for fixing position of the ball and socket joint provided in the second end of each rod assembly.
[007] In an embodiment, each arm clamp of the one or more arm clamps comprises an upper casing and a lower casing that are aligned around an arm of the one or more arms of the UAV, wherein each of the upper casing and the lower casing comprise a half rectangular outer case with at least one bolt hole present at each side of the half rectangular outer case, wherein the half rectangular outer case of each of the upper casing and the lower casing comprises a circular half ring for holding the arm of the UAV, and wherein the circular half ring present in each of the upper casing and the lower casing is attached together using a fixation component to form a circular ring to firmly grip the arm of the UAV inside the circular ring.
[008] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS
[009] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, serve to explain the disclosed principles:
[010] FIG. 1A depicts a perspective/isometric view of a gripper assembly, in accordance with an embodiment of the present disclosure.
[011] FIG. 1B depicts a side view of the gripper assembly, in accordance with an embodiment of the present disclosure.
[012] FIG. 1C depicts a bottom perspective view of the gripper assembly, in accordance with an embodiment of the present disclosure.
[013] FIG. 2A depicts a front view of one of an arm clamp of the gripper assembly, in accordance with an embodiment of the present disclosure.
[014] FIG. 2B depicts a front view of one of a rod assembly of the gripper assembly, in accordance with an embodiment of the present disclosure.
[015] FIG. 3A depicts a front view of a body of the gripper assembly of FIG. 1A through 1C, in accordance with an embodiment of the present disclosure.
[016] FIG. 3B depicts a perspective view of the body of the gripper assembly of FIG. 1A through 1C, in accordance with an embodiment of the present disclosure.
[017] FIG. 4 depicts a bottom view of a base plate of the gripper assembly of FIG. 1A through 1C, in accordance with an embodiment of the present disclosure.
[018] FIG. 5 depicts a perspective view of the gripper assembly connected to or more arms of an unmanned aerial vehicle (UAV), in accordance with an embodiment of the present disclosure.
[019] FIG. 6 depicts a schematic representation of the gripper assembly of FIG. 1A through 1C carrying a payload with the help of the UAV, in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION OF EMBODIMENTS
[020] Exemplary embodiments are described with reference to the accompanying drawings. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. Wherever convenient, the same reference numbers are used throughout the drawings to refer to the same or like parts. While examples and features of disclosed principles are described herein, modifications, adaptations, and other implementations are possible without departing from the scope of the disclosed embodiments.
[021] In construction industries, gripper assemblies are used for attaching payloads to unmanned aerial vehicles (UAVs) so that the payloads can be transported from one location to another. However, gripper assemblies that are currently available use magnetic strips for attaching payloads and thus the payloads with non-magnetic profiles cannot be carried through the conventional grippers/gripper assemblies. Further, the conventional grippers are not adjustable/flexible in nature, thus they can only be used with drones for which they are designed and not with different kinds of drones having different number of arms. Embodiments of the present disclosure provide a gripper assembly for attaching the payload such as the brick, to the UAV such that the payload can be transported over long distances aerially. The gripper assembly of the present disclosure is light-weight, and comprises an adjustable gripper design so that it can be used for different types and sizes of UAVs. More particularly, the gripper assembly comprises a plurality of arm clamps for connecting the gripper assembly with one or more arms of the UAV. The gripper assembly also comprises a plurality of electro-permanent magnets (EPMs) that are arranged in a pre-defined formation to increase a coverage area of the EPMs, thereby ensuring firm attachment of the payload to the EPM so that the payload can be transported over long distances aerially. The gripper assembly also includes a suspension mechanism to handle inaccuracies and disturbances during the navigational aspect of the UAVs.
[022] Referring now to the drawings, and more particularly to FIG. 1 through 6, where similar reference characters denote corresponding features consistently throughout the figures, there are shown preferred embodiments and these embodiments are described in the context of the following exemplary system and/or method.
[023] Reference numerals of one or more components of the gripper apparatus as depicted in the FIGS. 1A through 6 are provided in Table 1 below for ease of description:
Table 1
Sl. No Component Numeral reference
1 Gripper assembly 100
2 One or more arm clamps 102a-d
3 One or more rod assemblies 104a-d
4 Camera plate 106
5 Upper face of camera plate 106a
6 Lower face of camera plate 106b
7 First end of rod assembly 108a
8 Second end of rod assembly 108b
9 First ball and socket joint of first end of rod assembly 110a
10 Second ball and socket joint of second end of rod assembly 110b
11 Camera holder 112
12 Camera 114
13 Spacer plate 116
14 One or more spacers 116a-d
15 Opening in spacer plate 118a
16 Opening in base plate 118b
17 Base plate 120
18 A plurality of spring bolts 122a-h
19 A plurality of electro-permanent magnets 124a-e
20 At least one limit switch 126
21 First rod 128a
22 Second rod 128b
23 Grip 130
24 Upper casing of arm clamp 132a
25 Lower casing of arm clamp 132b
26 Half rectangular outer case of the upper casing and the lower casing 134a-b
27 At least one bolt hole of the half rectangular outer case (134a-134b) 136
28 A circular half ring of a half rectangular outer case of each of the upper casing and the lower casing 136a-b
29 Fixation component 138
30 Circular ring 140
31 Body of the gripper assembly 145
32 Payload 150
33 Unmanned aerial vehicle 200
34 One or more arms of Unmanned aerial vehicle 202a-d

[024] FIGS. 1A through 1C, depict a gripper assembly 100 for attaching a payload 150 to an unmanned aerial vehicle (UAV) 200, in accordance with an embodiment of the present disclosure. More specifically, FIG. 1A depicts a perspective/isometric view of the gripper assembly 100, in accordance with an embodiment of the present disclosure.
[025] FIG. 1B, with reference to FIG. 1A, depicts a side view of the gripper assembly 100, in accordance with an embodiment of the present disclosure. FIG. 1C, with reference to FIG. 1A through 1B, depicts a bottom perspective view of the gripper assembly 100, in accordance with an embodiment of the present disclosure. The gripper assembly 100 comprises one or more arm clamps 102a-d, a camera plate 106, and one or more rod assemblies 104a-d for connecting an upper face 106a of the camera plate 106 with the one or more arm clamps 102a-d. In an embodiment, the camera plate is a rectangular shaped plate in which each rod assembly of the one or more rod assemblies 104a-d is fixed at a corner of the upper face 106a of the camera plate 106 via a ball and socket joint 110. The one or more arm clamps 102a-d may also be referred as ‘arm clamps’ and may be interchangeably used herein. Similarly, the one or more rod assemblies 104a-d may also be referred as ‘rod assemblies’ and may be interchangeably used herein. The arm clamps 102a-d are adapted (or configured) to connect the gripper assembly 100 to one or more arms 202a-d of the UAV 200. The one or more arms 202a-d may also be referred as ‘arms’ and may be interchangeably used herein. The arms 202a-d of the UAV 200 are depicted in FIG. 5.
[026] The gripper assembly 100 further comprises a spacer plate 116 and a base plate 120. The spacer plate 116 is configured to be attached to the camera plate 106 using one or more spacers 116a-d. The one or more spacers 116a-d may also be referred as ‘spacers’ and may be interchangeably used herein. The spacers 116a-d are depicted in FIG. 3B. In an embodiment, each spacer is provided at a corner of the camera plate 106. The spacer plate 116 comprises a first opening 118a. The base plate 120 is configured to be attached to the spacer plate 116 using a plurality of spring bolts 122a-h. The plurality of spring bolts 122a-h may also be referred as ‘spring bolts’ and may be interchangeably used herein. The spring bolts 122a-h are depicted in FIGS. 3A and 3B. The base plate 120 comprises a second opening 118b.
[027] The base plate 120 further comprises a plurality of electro-permanent magnets (EPMs) 124a-e. The plurality of EPMs 124a-e may also be referred as ‘EPMs’ and may be interchangeably used herein. The EPMs 124a-e are configured to be arranged in a pre-defined formation. In an embodiment, the EPMs 124a-e are arranged in a star formation.
[028] FIG. 2A, with reference to FIGS. 1A through 1C, depicts a front view of one of an arm clamp of the gripper assembly 100, in accordance with an embodiment of the present disclosure.
[029] As depicted in FIG. 2A, each arm clamp of the arm clamps 102a-d comprises an upper casing 132a and a lower casing 132b. The upper casing 132a comprises a half rectangular outer case 134a and at least one bolt hole 136 present at each side of the half rectangular outer case 134a. The half rectangular outer case 134a comprises a circular half ring 136a that is firmly attached to the half rectangular outer case 134a. In an embodiment, the circular half ring 136a is similar to a pipe ring that is generally used in plumbing. The lower casing 132b has a design configuration identical to the upper casing 132a and includes similar components as shown in FIG. 2A. The circular half rings 136a-b present in each of the upper casing 132a and the lower casing 132b is attached together using a fixation component 138 to form a circular ring 140 to firmly grip an arm of the UAV 200 inside the circular ring 140. In an embodiment, the fixation component 138 includes, but is not limited to screw, nut and bolt mechanism, fastener(s), pin(s), and the like. The fixation component 138 is configured to be placed inside the at least one bolt hole 136 present at each side of half rectangular outer case 134a-b such that the upper casing 132a and the lower casing 132b, and the circular half rings 136a-b are aligned and tightened together. The fixation component 138 helps in tightening grip on the arm of the UAV 200 and allows the arm clamp to adjust according to diameter of the arms 202a-d of the UAV 200.
[030] The lower casing 132b also comprises a locking screw (not shown in figures) that is attached to the circular half ring 136b present in a half rectangular outer case 134b of the lower casing 132b. The locking screw is configured to tighten the arm clamp on the arm of the UAV 200.
[031] FIG. 2B, with reference to FIGS. 1A through 2A, depicts a front view of one of a rod assembly of the gripper assembly 100, in accordance with an embodiment of the present disclosure.
[032] As depicted in FIG. 2B, each rod assembly of the rod assemblies 104a-d comprises a first end 108a, a second end 108b, a first rod 128a and a second rod 128b. The first end 108a of each rod assembly is configured to be connected to an arm clamp of the arm clamps 102a-d using a first ball and socket joint 110a. The first end 108a of each rod assembly further comprises a grip 130 for fixing position of the first ball and socket joint 110a provided in the first end 108b of each rod assembly. The second end 108b of each rod assembly comprises a second ball and socket joint 110b. In an embodiment, the second ball and socket joint 110b is configured to fix relative position of the arm clamp with respect to the corresponding rod assembly such that the arm clamp is aligned with an arm of the arms 202a-d of the UAV 200. The first and the second ball and socket joints 110a-b present at the first end 108a and the second end 108b, respectively of each rod assembly allow the gripper assembly 100 to be oriented at different angles, thus helps in connecting with different types of UAVs as the angles between the arms 202a-d of the UAVs differ greatly with different types of UAV’s. The ball and socket joint 110 also comprises a cylindrical base. The cylindrical base is configured to be fixed on the camera plate 106 so that the rod assembly can be fixed on the upper face 106a of the camera plate 106.
[033] Further, a diameter of the second rod 128b of each rod assembly is greater than a diameter of the first rod 128a of a respective rod assembly. The first rod 128a of each rod assembly is configured to be inserted inside the second rod 128b of a respective rod assembly such that a telescopic mechanism is created between the first rod 128a and the second rod 128b of each rod assembly. The created telescopic mechanism can be locked at any particular length to enable adjustment of distance between the camera plate 106 and a body (shown with reference to FIGS. 5-6) of the UAV 200.
[034] It should be noted that it is always preferred that a distance between the body of the UAV 200 and the gripper assembly 100 is as much separated as possible but it is often limited by size of landing gears which depends on a height of the UAV 200. So, if the space below the UAV 200 is less, the first rod 128a and the second rod 128b can be in a retracted position with the help of the telescopic mechanism to adjust the distance between the body of the UAV 200 and the gripper assembly 100. In case the space below the UAV 200 is more, the first rod 128a and the second rod 128b can be in an extended position to increase the distance between the body of the UAV 200 and the gripper assembly 100.
[035] FIGS. 3A and 3B, depict a body 145 of the gripper assembly 100, in accordance with an embodiment of the present disclosure. More specifically, FIG. 3A depicts a front view of the body 145 of the gripper assembly 100, in accordance with an embodiment of the present disclosure. FIG. 3B, with reference to FIG.3, depicts a perspective view of the body 145 of the gripper assembly 100, in accordance with an embodiment of the present disclosure.
[036] As depicted in FIGS. 3A and 3B, the body 145 of the gripper assembly 100 comprises the camera plate 106, the spacer plate 116 attached to the camera plate 106, and the base plate 120 attached to the spacer plate 116. The camera plate 106 comprises the upper face 106a and a lower face 106b. In an embodiment, the camera plate 106 plate is a flat plate made of a carbon fiber. As described earlier, the upper face 106a of the camera plate 106 is connected to the arm clamps 102a-d using the rod assemblies 104a-d. The lower face 106b of the camera plate 106 comprises a camera holder 112 that is configured to hold a camera 114. In an embodiment, the camera 114 is a downward facing camera for capturing live feed of bottom when the gripper assembly 100 is operational. The captured live feed of the bottom may help the UAV 200 in taking decision during autonomous operations.
[037] As discussed earlier, the spacer plate 116 is attached to the camera plate 106 using the spacers 116a-d. The spacer plate 116 comprises the first opening 118a. The spacers 116a-d provided between the camera plate 106 and the spacer plate 116 is configured to protect the camera 114 placed in the camera holder 112 from suspension effect received from the base plate 120 during landing and picking of the payload 150 by the UAV 200.
[038] The base plate 120 is adapted to be attached to the spacer plate 116 using the spring bolts 122a-h. In an embodiment, the spring bolts 122a-h are 70mm spring bolts, in one example embodiment of the present disclosure and such dimensions of spring bolts shall not be construed as limiting the scope of the present disclosure. The spring bolts 122a-h, without limiting the scope of the present disclosure, are adapted to act as a suspension for the gripper assembly 100 such that the gripper assembly 100 remain stable while coming in contact with a hard surface during picking and placing of the payload 150 by the UAV 200. In particular, sudden contact of the gripper assembly 100 with the payload 150, such as a brick may destabilize the UAV 200, so the spring bolts 122a-h provided between the base plate 120 and the spacer plate 116 act as the suspension so that the gripper assembly 100 remains stable while picking and placing of the payload 150 by the UAV 200. The base plate 120 comprises a second opening 118b. The first opening 118a of the spacer plate 116 and the second opening 118b of the base plate 120 allow the camera 114 to have an obstructed view of the bottom before picking of the payload 150 by the UAV 200.
[039] The base plate 120 further comprises the EPMs 124a-e (shown with reference to FIG. 4) that are arranged in the pre-defined formation for carrying the payload 150 by getting attached to the payload 150. In particular, the EPMs 124a-e are configured to act as a magnet when supplied with pulse-width modulation (PWM) signals, so while performing autonomous operation when the UAV 200 supplies the PWN signals to the EPMs 124a-e, the EPMs 124a-e start behaving like the magnet and thus get attached to the payload 150. Further, the pre-defined formation i.e., the star formation of the EPMs 124a-e maximize coverage area of the EPMs 124a-e, thereby ensuring firm attachment of the payload 150 to the EPMs 124a-e.
[040] The body 145 of the gripper assembly further comprises at least one limit switch 126 that is attached on either side of each EPM of the EPMs 124a-e. The at least one limit switch 126 is configured to check whether the payload 150 is attached to the at least one EPM of the EPMs 124a-e when the gripper assembly 100 is operational and then send a feedback accordingly to a controller of the UAV 200. In an embodiment, the at least one limit switch 126 is placed on two sides of the EPMs to ensure that even if one of the EPMs is in contact with the payload 150, the correct feedback is sent to the controller of the UAV 200.
[041] FIG. 5 depicts a perspective view of the gripper assembly 100 connected to arms 202a-d of the UAV 200, in accordance with an embodiment of the present disclosure.
[042] FIG. 6 depicts a schematic representation of the gripper assembly 100 of FIG. 1A through 1C carrying the payload 150 with the help of the UAV 200, in accordance with an embodiment of the present disclosure.
[043] The written description describes the subject matter herein to enable any person skilled in the art to make and use the embodiments. The scope of the subject matter embodiments is defined by the claims and may include other modifications that occur to those skilled in the art. Such other modifications are intended to be within the scope of the claims if they have similar elements that do not differ from the literal language of the claims or if they include equivalent elements with insubstantial differences from the literal language of the claims.
[044] The embodiments herein can comprise hardware and software elements. The embodiments that are implemented in software include but are not limited to, firmware, resident software, microcode, etc. The functions performed by various components described herein may be implemented in other components or combinations of other components. For the purposes of this description, a computer-usable or computer readable medium can be any apparatus that can comprise, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
[045] The illustrated steps are set out to explain the exemplary embodiments shown, and it should be anticipated that ongoing technological development will change the manner in which particular functions are performed. These examples are presented herein for purposes of illustration, and not limitation. Further, the boundaries of the functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternative boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed. Alternatives (including equivalents, extensions, variations, deviations, etc., of those described herein) will be apparent to persons skilled in the relevant art(s) based on the teachings contained herein. Such alternatives fall within the scope of the disclosed embodiments. Also, the words “comprising,” “having,” “containing,” and “including,” and other similar forms are intended to be equivalent in meaning and be open ended in that an item or items following any one of these words is not meant to be an exhaustive listing of such item or items, or meant to be limited to only the listed item or items. It must also be noted that as used herein and in the appended claims, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise.
[046] Furthermore, one or more computer-readable storage media may be utilized in implementing embodiments consistent with the present disclosure. A computer-readable storage medium refers to any type of physical memory on which information or data readable by a processor may be stored. Thus, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing the processor(s) to perform steps or stages consistent with the embodiments described herein. The term “computer-readable medium” should be understood to include tangible items and exclude carrier waves and transient signals, i.e., be non-transitory. Examples include random access memory (RAM), read-only memory (ROM), volatile memory, nonvolatile memory, hard drives, CD ROMs, DVDs, flash drives, disks, and any other known physical storage media.
[047] It is intended that the disclosure and examples be considered as exemplary only, with a true scope of disclosed embodiments being indicated by the following claims.