PRIORITY DOCUMENTS

[0001] The present application claims priority from the following Australian Provisional Patent Applications and their contents are hereby incorporated by reference in their entirety:

Australian Provisional Patent Application No. 2021901088 titled “FUEL DELIVERY SYSTEM” and filed on 14 April 2021; and

Australian Provisional Patent Application No. 2021901089 titled “FUEL DELIVERY VEHICLE” and filed on 14 April 2021.

TECHNICAL FIELD

[0002] The present invention relates to a fuel delivery vehicle.

BACKGROUND

[0003] In certain environmental contexts, it is preferable that a convoy of vehicles is able to be refuelled on the move. In a military context, refuelling on the move (ROM) is a logistical operation, for sustaining an army while on manoeuvre to reach a destination.

[0004] A typical ROM operation is undertaken at a forward arming and refuelling point (FARP), which may require the convoy to divert from the optimal path of travel in order to reach a site suitable for supporting the operation.

[0005] When the convoy reaches the FARP site, vehicles will move through refuelling points in groups, where they are simultaneously refuelled from a common fuel source for a fixed period of time corresponding to a predetermined amount of fuel. If the refuelling operation is not executed in a timely manner, or there are equipment failures, the convoy can be held up for extended periods of time. It will also be appreciated that equipment failure can result in some vehicles not being filled to the required amount. If this is not picked up by the driver or the personnel responsible for refuelling the vehicle, then the vehicle may run out of fuel before reaching its destination. If it is picked up, the vehicle has to join the queue to be refuelled again, resulting in a delay to the convoy leaving the FARP site.

[0006] FARP sites are vulnerable facilities and a high value target for enemy forces, and as a result, are typically temporary, transitory facilities, which require comprehensive planning, and require dedicated personnel to drive the fuel carrying vehicles, set up camouflage, run security detail and coordinate delivery of fuel to all convoy vehicles in a timely manner. [0007] It is against this background that the present disclosure has been developed.

SUMMARY

[0008] According to a first aspect, there is provided a fuel delivery vehicle for refuelling a target vehicle while both vehicles are in motion, the refuelling vehicle comprising a fuel delivery assembly in connection with a fuel supply and deployed on a moveable delivery arm, wherein in use, the fuel delivery vehicle would drive alongside the target vehicle and the delivery arm would move to move the fuel delivery assembly to a position where it engages with the target vehicle, and then delivers an amount of fuel to the target vehicle.

[0009] In one form, the fuel delivery assembly comprises a fuel delivery nozzle configured to engage with a corresponding fuel receiver on the target vehicle.

[0010] In one form, the delivery arm is in the form of a robotic arm, configured to be folded or articulated into a stowed position as well as being unfolded or articulated to a variety of deployed positions.

[0011] In one form, the robotic arm comprises at least one articulating joint and at least one rotating joint, wherein the robotic arm is capable of positioning the fuel delivery nozzle at various heights, distances and angles with respect to the target vehicle.

[0012] In one form, the robotic arm is configured to position the fuel delivery nozzle on either side of the fuel delivery vehicle.

[0013] In one form, the robotic arm is configured to move to account for relative movement between the delivery vehicle and the target vehicle.

[0014] In one form, the fuel delivery nozzle is in the form of a dry break nozzle.

[0015] In one form, the delivery arm is mounted with respect to the fuel delivery vehicle in a manner where an amount of relative movement between the delivery arm and the fuel delivery vehicle is allowed.

[0016] In one form, the fuel delivery vehicle further comprises at least one fuel tank in fluid connection with the fuel delivery assembly.

[0017] In one form, the fuel delivery vehicle further comprises a control system comprising a means for detecting that the target vehicle requires refuelling. [0018] In one form, the means for detecting that the target vehicle requires refuelling is in the form of a first optical recognition system configured to detect when a fuel flap on the target vehicle has been opened.

[0019] In one form, the first optical recognition system is also configured to detect a position of the target vehicle relative to the fuel delivery vehicle, helping to guide the fuel delivery vehicle to and maintain a position alongside the target vehicle.

[0020] In one form, the control system is configured to guide the fuel delivery vehicle to drive alongside the target vehicle such that the fuel delivery assembly is positioned adjacent to the fuel receiver of the target vehicle and through the use of the first optical recognition system and/or the proximity sensors, match the speed of the target vehicle and act to maintain a predefined distance between the vehicles.

[0021] In one form, the control system further comprises one or more proximity sensors configured to detect a position of the target vehicle relative to the fuel delivery vehicle, helping to guide the fuel delivery vehicle to and maintain a position alongside the target vehicle.

[0022] In one form, the control system further comprises a means for determining the position and pose of a fuel receiver of the target vehicle relative to the fuel delivery vehicle.

[0023] In one form, the means for determining the position and pose of the fuel receiver of the target vehicle is in the form of a second optical recognition system.

[0024] In one form, the control system is configured to guide the fuel delivery assembly toward fuel receiver and through use of the second optical recognition system, position the fuel delivery assembly such that it engages with the fuel receiver of the target vehicle.

BRIEF DESCRIPTION OF DRAWINGS

[0025] Embodiments of the present invention will be discussed with reference to the accompanying drawings wherein:

[0026] Figure 1 is a perspective view of a fuel delivery vehicle, according to an embodiment, with the fuel deliveiy assembly in a stowed position;

[0027] Figure 2 is a top view of the fuel delivery vehicle of Figure 1, with the fuel delivery assembly in a stowed position; [0028] Figure 3 is a side view of the fuel delivery vehicle of Figure 1, with the fuel delivery assembly in a stowed position;

[0029] Figure 4 is a front view of the fuel delivery vehicle of Figure 1, with the fuel delivery assembly in a stowed position;

[0030] Figure 5 is a perspective view of the fuel delivery vehicle of Figure 1, with the fuel delivery assembly in a deployed position;

[0031] Figure 6 is a top view of the fuel delivery vehicle of Figure 1, with the fuel delivery assembly in a deployed position;

[0032] Figure 7 is a side view of the fuel delivery vehicle of Figure 1, with the fuel delivery assembly in a deployed position;

[0033] Figure 8 is a front view of the fuel delivery vehicle of Figure 1, with the fuel delivery assembly in a deployed position;

[0034] Figure 9 is a perspective view of a fuel delivery vehicle, according to an alternate embodiment, with the fuel delivery assembly in a stowed position;

[0035] Figure 10 is a perspective view of the fuel delivery vehicle of Figure 9, with the fuel delivery assembly in a deployed position;

[0036] Figure 11 is a schematic view of a fuel flap and receiver, according to an embodiment; and [0037] Figure 12 is a schematic for a control system, according to an embodiment.

DESCRIPTION OF EMBODIMENTS

[0038] Referring now to Figures 1 to 8, there is shown a fuel delivery vehicle 1 for refuelling a target vehicle 200 (an example of which is shown in Figure 11) while both vehicles are in motion. The fuel delivery vehicle 1 comprising a fuel supply and a fuel delivery assembly 40 in connection with the fuel supply and deployed on a moveable delivery arm 41, wherein, in use, the refuelling vehicle 1 would drive alongside the target vehicle 200, and the delivery arm 41 would move the fuel delivery assembly 40 to a position where it engages with the target vehicle 200, and then delivers an amount of fuel to the target vehicle 200. [0039] The fuel supply is in the form of one or more fuel tanks in fluid connection with the fuel delivery assembly 40. In the embodiment shown, there are two fuel tanks 21, 23 having a combined fuel capacity of 10,000 litres, which may be filled with the same fuel, or, each fuel tank 21, 23 may be filled with different fuels, wherein the fuel delivery assembly 40 is capable of selectively refuelling with either fuel type. The fuel tanks 21, 23 may be pressurised or vented, and in the embodiment shown, feature individual fuel caps 22, 24.

[0040] While in the embodiment shown, the fuel delivery vehicle 1 comprises on-board tanks, it will be appreciated that in an alternate embodiment, the vehicle may be configured to tow a separate tank from which it draws fuel, either in addition to, or as an alternate to the on-board tank(s).

[0041] The fuel tanks 21, 23 are in fluid connection with a fuel pump (not shown) which is in turn fluidly connected to the fuel delivery assembly 40. In one form, the fuel pump may be a stand-alone unit located in close proximity to the delivery arm 41, while in an alternate embodiment it will be appreciated that the fuel pump could be located elsewhere in or on the vehicle.

[0042] The fuel delivery assembly 40 comprises a fuel delivery nozzle 47 in connection with the fuel supply and pump via a fuel hose 48, and configured to engage with a corresponding fuel receiver 202 on the target vehicle 200.

[0043] It can be seen that the delivery arm 41 is an articulated robotic arm, able to be folded or articulated in to a stowed position (as shown in Figures 1 to 4), as well as being unfolded or articulated to a variety of deployed positions (as shown in Figure 5 to 8).

[0044] In the embodiment shown, the robotic arm 41 features three articulating points 42, 43, 44 and a rotating joint 45. It will be appreciated that by virtue of the articulating points 42, 43, 44 and the rotating joint 45 that the robotic arm 41 is capable of positioning the fuel delivery nozzle 47 at various heights, distances and angles with respect to the target vehicle 200. It will further be appreciated that the robotic arm 41 is capable of positioning the fuel delivery nozzle 47 on either side of the fuel delivery vehicle 1.

[0045] While the fuel delivery and target vehicles 1, 200 are both in motion, it is intended that the fuel delivery vehicle 1 match the speed of the target vehicle 200 and maintain a set distance between the vehicles. It will of course be appreciated that variations in driving behaviour and the environment in which the vehicles are driving will result in a degree of relative movement between the vehicles.

[0046] The robotic arm 41 may be actively moved to account for movement between the vehicles (change in relative height, distance and angle). The robotic arm 41 may also be mounted with respect to the fuel delivery vehicle 1 in a manner where an amount of relative movement between the arm 41 and the vehicle 1 is allowed. For instance, the robotic arm 41 may be mounted on a platform 46 or the like that is either actively controlled or passively allowed a degree of longitudinal, lateral and rotational movement with respect to the vehicle.

[0047] In one form, the fuel delivery nozzle 47 and fuel receiver 202 may form a dry break coupling arrangement, where both the nozzle 47 and receiver 202 are sealed off when disconnected. It will be appreciated that in order for the nozzle 47 and receiver 202 to connect, a minimum force is required to overcome the seal. In order to achieve this, the articulated arm 41 will push the nozzle 47 against the receiver 202 in order to overcome the seal and maintain the connection. In order to disconnect the nozzle 47 and receiver, the articulated arm 41 is simply moved away.

[0048] It will be appreciated that by employing a dry break coupling arrangement, that there is no positive engagement or latching of the fuel delivery assembly 40 to any part of the target vehicle 200, and that a failure of any part of the system will not result in the fuel delivery assembly 40 getting stuck on the target vehicle 200. It will however be appreciated that alternate fuel delivery arrangements will fall within the intended scope of this disclosure.

[0049] The fuel delivery assembly 40 may also be configured to allow the fuel tank of the target vehicle 200 to vent, such that delivery of fuel displaces the gas volume in the tank. In the embodiment shown, delivery of fuel and venting of gas from the tank is achieved using a single coaxial hose 48, where fuel is delivered via an inner conduit and gas is vented via an outer conduit. In an alternate embodiment, it will be appreciated that fuel delivery and venting may be achieved via separate hoses / conduits.

[0050] While in the embodiment described, the concept contemplates the refuelling of a target vehicle with a combustible product, such as petrol, diesel, kerosene, LPG or hydrogen, it will however be appreciated that in an alternative embodiment, the target vehicle may be battery powered, and that the fuel delivery vehicle 1 could instead be configured to charge the batteries of the target vehicle.

[0051] While in the embodiment shown and described, the fuel delivery assembly 40 features a single fuel delivery nozzle 47, it will be appreciated that in alternate embodiments, for instance, when different fuels are supplied in each tank 21, 23, that two fuel delivery nozzles may be employed.

[0052] In the embodiment shown, the fuel tanks 21, 23 are housed within the armoured body 10 of the vehicle 1, however it will be appreciated that in alternate embodiments different fuel tank arrangements may be employed. For instance, in a civilian application, it would be unnecessary to mount the fuel tanks within an armoured body. [0053] In the embodiment shown the vehicle has six wheels 11 and is intended to be completely bi directional, where it will be appreciated that one or all wheel pairs may be driven and steerable. It will of course be appreciated that the vehicle may comprise more or less wheels, and that in an alternative embodiment the vehicle may be track driven. In addition to the fuel delivery assembly 40 being capable of accommodating for an amount of relative movement between the fuel delivery vehicle 1 and the target vehicle, the fuel delivery vehicle 1 may also comprise an active suspension system, capable of actively adjusting the ride height of the vehicle with respect to the terrain and/or the target vehicle. It will also be appreciated that the vehicle can maintain a high ride height for blast mitigation. In one form, the vehicle may be powered by a combustion engine, while in another form the vehicle may be powered by one or more electric motors, in yet a further form, the vehicle may be powered by a hybrid arrangement.

[0054] With references to Figures 9 and 10, a fully armoured variant of the fuel deliveiy vehicle 100 is shown, where in addition to the fuel tanks 21, 23, the wheels 11 and the fuel delivery assembly 40 are substantially housed within the armoured body 10 of the vehicle, where the fuel delivery assembly 40 is protected by a hatch arrangement 12, and the wheels are protected by side armour 13.

[0055] In both embodiments, it can be seen that the robotic arm 41 is located between the two tanks 21, 23 near the centre of gravity of the vehicle 1, for maximum stability. It will however be appreciated that alternate positions and configurations of the arm 41 and tanks 21 , 23 are intended to remain within the scope of this disclosure.

[0056] While the above disclosure describes fuel tanks having a combined fuel capacity of 10,000 litres, it will be appreciated that alternate arrangements having different fuel capacities are intended to fall within the scope of this disclosure.

[0057] Finally, it will be appreciated the vehicle 1 may be sized and shaped so as to be capable of being loaded into a standard 20 foot intermodal container for transport by air, rail, sea or road. In the event that the vehicle is electrically powered, the vehicle may be charged during transportation.

[0058] The fuel delivery vehicle 1 may also feature a control system 301 comprising a central controller or processor 310, a means for determining that the target vehicle requires refuelling, and a means for detecting the fuel receiver of the target vehicle, wherein the central controller provides driving instructions such that the fuel delivery vehicle drives to and maintains a position alongside the target vehicle, and where the central controller provides fuel delivery instructions for guiding a fuel delivery nozzle to a position where it engages with the fuel receiver of the target vehicle.

[0059] In a preferred form, the target vehicle 200 alerts the control system 301 by opening a fuel flap 301 which is covering the fuel receiver 302 (as shown in Figure 11). [0060] The control system 301 comprises a means for determining when the target vehicle 200 requires refuelling in the form of a first optical recognition system 320 configured to recognise that the fuel flap

201 has been opened.

[0061] In one form, the first optical recognition system 320 will use one or more cameras to capture an image or video stream, where it will be capable of visually distinguishing the appearance of an open fuel flap 201, and in another form, the optical recognition system 320 will be capable of recognising information encoded on the opened fuel flap 201. In both instances, it is intended that the control system 301 will then be capable of approximating the position of the fuel receiver 202 for the purposes of deploying the fuel delivery nozzle 47 to engage with the fuel receiver 202.

[0062] While in the embodiment described, an optical recognition system is used to determine that a target vehicle requires refuelling, it will be appreciated that in alternate embodiments, there may be alternate or additional means for alerting the control system, such as transmitting a signal from the target vehicle.

[0063] It will be appreciated that additional information may also be encoded on the fuel flap to assist with the refuelling process. Said information may include a unique identifier for the vehicle, the type of vehicle, fuel tank capacity, type of fuel receiver, or the type of fuel required. This information may be encoded in the form of a custom tag, code or pattern such as a barcode, QR code or other two- dimensional code 210 as shown in Figure 12. The first optical recognition system 320 will detect the two- dimensional code 210 and estimate its 3D pose, given the fuel flap 201 is in a fixed position regarding the fuel receiver 202, the 3D pose of the fuel receiver 202 is then able to be estimated with respect to the cameras 32 and the vehicle 1. It will be appreciated that this additional information may assist the system 301 with ensuring that the correct fuel is supplied to the target vehicle, and/or assisting the system 301 with deployment of the fuel delivery nozzle 47.

[0064] The custom tag, code or pattern 210 follows the general principles of augmented reality tags, encoding all necessary information (as a unique binary code encapsulating all of the specifications) to a binary matrix pattern. During the operation, after detecting the tag (using the standard shape) the matrix binary pattern is decoded by uniform 2D sampling of the pattern image and extracting the binary information code. This information code is used to identify the above described characteristics of the target vehicle.

[0065] The geometrical shape of the detected fuel flap 201 is also able to be used to estimate the 3D pose of the fuel flap 201 and given the relative pose of the fuel receiver 202, the 3D pose of the fuel receiver

202 is able to be fed to the central processor 310. [0066] After detecting the fuel flap 201 and the fuel receiver 202, the estimate of the fuel receiver’s 202 3D pose acts as an initial state for the central processor 310, which uses this initial value and refines its estimation considering the temporal and spatial consistency of the motion of the target vehicle 200.

[0067] Once the control system 301 has recognised that the target vehicle 200 requires refuelling, it is intended that the central controller 310 will provide drive instructions 350, guiding the fuel delivery vehicle 1 to autonomously approach the target vehicle 200, while the first optical recognition 320 system will continue to track the fuel flap 201.

[0068] In addition to the first optical recognition system 320, the control system may comprise additional means for detecting the position of the target vehicle in the form of one or more proximity sensors 340, such as 3D LIDAR sensors. It is further intended that the control system 301 be able to provide drive instructions 350 to aid a vehicle driver, remote pilot or autonomous driving system to position the fuel delivery vehicle lalongside the target vehicle 200 such that the fuel delivery nozzle 47 is positioned adjacent or alongside the fuel receiver 202 of the target vehicle 200, and through the use of the first optical recognition system 320 and/or the proximity sensors 340, match the speed of the target vehicle 200 and act to maintain a predefined distance between vehicles.

[0069] It can be seen that the first optical recognition system 320 may take the form of one or more optical sensors, such as cameras housed in camera pods 31 and one or more separately housed proximity sensors 340 such as 3D LIDAR sensors 32, as shown in Figures 1 to 10.

[0070] Once positioned appropriately, the control system 301 may issue fuel delivery instructions 360, and the fuel delivery assembly 30 is then able to deploy the fuel delivery nozzle 47 to engage with the fuel receiver 202 of the target vehicle 200. The control system may further comprise a second optical recognition system 330 positioned on or in close proximity to the fuel delivery nozzle 47, and configured to recognise the opening and orientation of the fuel receiver 202, where it is intended that the central controller 310 will then guide the delivery arm 41, positioning and orienting the fuel delivery nozzle 47 such that it is able to appropriately engage with the fuel receiver 202 of the target vehicle 200.

[0071] In one form, the second optical recognition system 330 is in the form of one or more cameras used to capture an image/video stream, where it will be capable of refining the 3D pose of the target fuel receiver 202 with higher precision, in order to accurately guide the fuel delivery nozzle 47 to attach to the fuel receiver 202. Fine-tuning of the pose happens by detecting distinctive key-points of the fuel receiver 202 (already identified from having decoded the tag on the fuel flap) and estimating its pose given the physical shape of the receiver is already known. For instance, if the receiver has a custom shape, the 3D pose can be derived from the matching of the template of the receiver and its detected key points. [0072] As previously discussed, in one form, the fuel delivery nozzle 47 and fuel receiver 202 may form a dry break coupling arrangement, where a minimum force is required to overcome the seal. In order to maintain this force, the control system 1 is further equipped with an engagement force sensor 370 configured to monitor the engaging force between the fuel delivery nozzle 47 and receiver 202 and to instruct the delivery arm 41 to moderate its force as required.

[0073] While in the embodiment described, the delivery arm 41 is used to force the nozzle 47 in to the receiver 202 to overcome the dry break seal, it will be appreciated that in alternative embodiments other arrangements may be employed. For example, in an alternate embodiment, the fuel delivery nozzle 47 may be configured to be magnetically attracted to the fuel receiver, where the magnetic force is sufficient to overcome the dry break seal. In one version, the control system 301 may feature a coil which serves as an electromagnet that can be selectively energized to attach the fuel deliveiy nozzle 47 to the fuel receiver 202.

[0074] The control system 301 may also be configured to completely fill the fuel tank of the target vehicle 200. This may be achieved by providing a fuel sensor 380 in the venting conduit, such that when fuel enters the venting conduit, the fuel sensor 380 is triggered, indicating that the nozzle 47 can be withdrawn from the receiver 202 and/or the fuel pump deactivated. It will be appreciated that by fully filling the tank of the target vehicle rather than filling for a predetermined period of time, that there will be no chance of the target vehicle 200 being mis-filled due to equipment failure or the like.

[0075] While in a preferred form, both the fuel delivery vehicle and the fuel delivery assembly are to be autonomously operated, it will be appreciated that in an alternate embodiment, some aspects may be semi-autonomous. For instance, the system may be responsible for alerting an on-board or remotely located driver/pilot of the fuel delivery vehicle that a target vehicle requires refuelling. It may then issue the driver with instructions or guidance for positioning and maintaining the position of the fuel delivery vehicle alongside the target vehicle. Once in position, the fuel delivery assembly may then automatically deploy the fuel delivery nozzle and engage with the fuel receiver of the target vehicle.

[0076] It will be appreciated that the above described fuel delivery vehicle provides a means for refuelling one or more target vehicles, on demand, while all vehicles remain on the move. It will be appreciated that by remaining on the move, that the logistical effort typically associated with ROM operations is substantially reduced, where, instead of having to set up a ROM site, a fuel delivery vehicle can simply accompany or be deployed to a convoy and deliver fuel on demand, all while the convoy remains in motion.

[0077] It will further be appreciated that some of the risks typically associated with ROM operations are substantially reduced. It will be appreciated that by automating the delivery of fuel to a target vehicle that a driverless vehicle is able to be provided, eliminating the risk of loss of life, associated with a driver operating a high value target.

[0078] Those of skill in the art would understand that information and signals may be represented using any of a variety of technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips may be referenced throughout the above description and may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0079] Those of skill in the art would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software or instructions, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

[0080] The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. For a hardware implementation, processing may be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof. Software modules, also known as computer programs, computer codes, or instructions, may contain a number of source code or object code segments or instructions, and may reside in any computer readable medium such as a RAM memory, flash memory, ROM memory, EPROM memory, registers, hard disk, a removable disk, a CD-ROM, a DVD-ROM, a Blu-ray disc, or any other form of computer readable medium. In some aspects the computer-readable media may comprise non-transitory computer-readable media (e.g., tangible media).

In addition, for other aspects computer-readable media may comprise transitory computer- readable media (e.g., a signal). Combinations of the above should also be included within the scope of computer- readable media. In another aspect, the computer readable medium may be integral to the processor. The processor and the computer readable medium may reside in an ASIC or related device. The software codes may be stored in a memory unit and the processor may be configured to execute them. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art. [0081] Further, it should be appreciated that modules and/or other appropriate means for performing the methods and techniques described herein can be downloaded and/or otherwise obtained by a computing device. For example, such a device can be coupled to a server to facilitate the transfer of means for performing the methods described herein. Alternatively, various methods described herein can be provided via storage means (e.g., RAM, ROM, a physical storage medium such as a compact disc (CD) or floppy disk, etc.), such that a computing device can obtain the various methods upon coupling or providing the storage means to the device. Moreover, any other suitable technique for providing the methods and techniques described herein to a device can be utilized.

[0082] In one form the invention may comprise a computer program product for performing the method or operations presented herein. For example, such a computer program product may comprise a computer (or processor) readable medium having instructions stored (and/or encoded) thereon, the instructions being executable by one or more processors to perform the operations described herein. For certain aspects, the computer program product may include packaging material.

[0083] The methods disclosed herein comprise one or more steps or actions for achieving the described method. The method steps and/or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is specified, the order and/or use of specific steps and/or actions may be modified without departing from the scope of the claims.

[0084] As used herein, the term “determining” encompasses a wide variety of actions. For example, “determining” may include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. Also, “determining” may include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory) and the like. Also, “determining” may include resolving, selecting, choosing, establishing and the like.

[0085] Throughout the specification and the claims that follow, unless the context requires otherwise, the words “comprise” and “include” and variations such as “comprising” and “including” will be understood to imply the inclusion of a stated integer or group of integers, but not the exclusion of any other integer or group of integers.

[0086] The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement of any form of suggestion that such prior art forms part of the common general knowledge.

[0087] In some cases, a single embodiment may, for succinctness and/or to assist in understanding the scope of the disclosure, combine multiple features. It is to be understood that in such a case, these multiple features may be provided separately (in separate embodiments), or in any other suitable combination. Alternatively, where separate features are described in separate embodiments, these separate features may be combined into a single embodiment unless otherwise stated or implied. This also applies to the claims which can be recombined in any combination. That is a claim may be amended to include a feature defined in any other claim. Further a phrase referring to “at least one of’ a list of items refers to any combination of those items, including single members. As an example, “at least one of: a, b, or c” is intended to cover: a, b, c, a-b, a-c, b-c, and a-b-c.

[0088] It will be appreciated by those skilled in the art that the invention is not restricted in its use to the particular application described. Neither is the present invention restricted in its preferred embodiment with regard to the particular elements and/or features described or depicted herein. It will be appreciated that the invention is not limited to the embodiment or embodiments disclosed, but is capable of numerous rearrangements, modifications and substitutions without departing from the scope of the invention as set forth and defined by the following claims.