Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides the health monitoring system and the health monitoring method based on the broadband field bus, which can accurately monitor the health of each device in the control system in real time and effectively maintain the normal operation of the control system.
In a first aspect, the present application provides a broadband fieldbus based health monitoring system comprising:
The target control system comprises at least one device, and the at least one device is connected through a switch;
the system comprises a main system, a switch and a broadband industrial field bus, wherein the main system is respectively in communication connection with the equipment through the broadband industrial field bus, the switch is mutually independent with the broadband industrial field bus, and the main system is used for monitoring the health state of the equipment.
According to the health monitoring system based on the broadband field bus, the main system is arranged to conduct intelligent health monitoring on each device in the target control system independently, and the broadband industrial field bus independent of the switch is arranged to conduct health monitoring data transmission, so that health monitoring on each device in the control system can be conducted in real time and accurately, and normal operation of the control system can be effectively maintained.
According to one embodiment of the application, the system further comprises a target computer, wherein the target computer is independent of the target control system, the main system is deployed on the target computer, and the main system is in communication connection with the target computer.
According to the health monitoring system based on the broadband field bus, the main system is arranged in the independent target computer, so that the health management controller and the target control system can be completely isolated, and the monitoring efficiency and the accuracy of the monitoring result are improved.
According to one embodiment of the application, the host system is deployed within a target device of the at least one device, and the host system is communicatively coupled to a computer within the target device.
According to the health monitoring system based on the broadband field bus, the main system is arranged in the equipment included in the target control system, so that the number of the equipment can be reduced, the deployment cost is reduced, and the deployment space is saved.
According to one embodiment of the application, the broadband industrial field bus comprises AUTBUS bus.
According to the health monitoring system based on the broadband field bus, the AUTBUS bus is used as a broadband industrial field bus, long-distance transmission can be supported, deployment cost can be reduced, and the health monitoring system based on the broadband field bus is also suitable for a narrow space and has wide application scenes and high universality.
According to one embodiment of the application, the host system comprises a target chip, which is matched to the broadband industrial field bus, and which is connected to the devices by means of the broadband industrial field bus in a communication manner.
According to one embodiment of the application, the at least one device includes at least one of a management computer, a switch, a PLC processor, a communication fusion module, and an I/O device.
According to one embodiment of the application, the host system monitors health status of each of the devices via MaView programming platforms.
In a second aspect, the present application provides a health monitoring method applied to the health monitoring system based on the broadband field bus according to the first aspect, the method comprising:
Acquiring monitoring data of equipment corresponding to the broadband industrial field buses transmitted by the broadband industrial field buses;
and determining health state information corresponding to the equipment based on the monitoring data.
According to the health monitoring method, by setting the main system and the broadband industrial field bus, intelligent health monitoring can be independently carried out on each device based on the monitoring data corresponding to each device in the target control system, the accuracy of the monitoring result is high, the real-time performance is high, and the normal operation of the control system can be effectively maintained.
According to one embodiment of the application, the health status information comprises at least one of device presence information, device reset information, device operating duration information, power supply information, fan operating status information, circuit board operating status information, fault information, and reliability information.
According to an embodiment of the present application, in a case where the health status information includes the reliability information, the determining, based on the monitoring data, health status information corresponding to the device includes:
The reliability information is predicted based on at least one of an electrical signal and a temperature signal included in the monitoring data.
In a third aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of health monitoring as described in the second aspect above when executing the computer program.
In a fourth aspect, the present application provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements a health monitoring method as described in the second aspect above.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements a method of health monitoring as described in the second aspect above.
The above technical solutions in the embodiments of the present application have at least one of the following technical effects:
By setting the main system to conduct intelligent health monitoring on each device in the target control system independently and setting a broadband industrial field bus independent of the switch to conduct health monitoring data transmission, health monitoring can be conducted on each device in the control system in real time and accurately, and normal operation of the control system is effectively maintained.
Furthermore, by using AUTBUS bus as broadband industrial field bus, long-distance transmission can be supported and deployment cost can be reduced, besides, the bus is also suitable for narrow space, and has wide application scene and high universality.
Furthermore, the controller for health management can be completely isolated from the target control system by arranging the main system in an independent target computer, so that the monitoring efficiency and the accuracy of the monitoring result are improved.
Still further, by setting the main system in the equipment included in the target control system, the number of the equipment can be reduced, the deployment cost can be reduced, and the deployment space can be saved.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are obtained by a person skilled in the art based on the embodiments of the present application, fall within the scope of protection of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The health monitoring system, the health monitoring method, the electronic device and the readable storage medium based on the broadband field bus provided by the embodiment of the application are described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.
The health monitoring method can be applied to the terminal, and can be specifically executed by hardware or software in the terminal.
The execution subject of the health monitoring method provided by the embodiment of the application can be an electronic device or a functional module or a functional entity capable of realizing the health monitoring method in the electronic device, and the electronic device provided by the embodiment of the application comprises, but is not limited to, a mobile phone, a tablet computer, a camera, a wearable device and the like.
As shown in fig. 1, the broadband fieldbus based health monitoring system includes a target control system 120 and a host system 110.
The target control system 120 may be any industrial control system, such as a PLC control system and a DCS control system.
The target control system 120 includes at least one device connected through a switch.
In some embodiments, the at least one device may include at least one of a management computer, a PLC processor, a communication fusion module, and an I/O device.
The communication fusion module is arranged between the I/O equipment and the switch and is used for converting the bus protocol into a protocol which can be identified by the I/O equipment.
It will be appreciated that the types of target control systems 120 may vary, as may the number and types of devices included, and the manner of connection between the devices.
Taking the DCS system as an example, with continued reference to fig. 1, the DCS system may include an operation management hierarchy, a process control hierarchy, and a site control hierarchy.
The field control hierarchy may include devices such as field instruments and meters.
The process control hierarchy may include devices such as data input modules, data output modules, and I/O modules.
The process management hierarchy may include equipment such as operator stations, engineer stations, supervisory computers, and the like.
The management hierarchy may include one or more management computers and the like.
The devices are connected by a switch, as indicated by the lines without arrows in fig. 1.
The exchanger is used for transmitting production data, working service data and the like of each device in the operation process.
In some embodiments, the switch may comprise a two-layer switch or a three-layer switch.
Wherein the two-layer switch may be an ethernet switch.
The main system 110 is a system for monitoring health status of each device, that is, the main system 110 is a system newly added on an original target control system for monitoring third party properties.
In the context of health monitoring, the master system 110 may act as the master system 110 of a broadband fieldbus based health monitoring system, and the managed devices, i.e., the devices included in the target control system 120, may act as slaves to the broadband fieldbus based health monitoring system.
The host system 110 is communicatively coupled to each of the devices via a broadband industrial field bus, as indicated by the arrowed lines in fig. 1.
The broadband industrial field bus is used for transmitting data, such as abnormal data, corresponding to each device and used for health status monitoring.
It should be noted that, the switch and the broadband industrial field bus are independent from each other, and the transmitted data do not interfere with each other.
In some embodiments, the health status may include a device in-place status, a device reset status, a power status, a fan running status, a circuit board operating status, fault information, reliability information, and the like.
The inventor finds out in the research and development process, in the related technology, the equipment in the control system is likely to be found after the abnormality occurs, and even if the equipment is abnormal, abnormal data is generally mixed with working service data in the same network, so that the abnormality of other equipment in the system can be caused.
In the application, by arranging the main system 110 to perform intelligent health monitoring on each device in the target control system 120, the running state of each device can be detected and predicted in time based on the collected monitoring data, and alarm information can be output in time under the condition of abnormality determination, so that early warning of faults is realized, and higher monitoring accuracy and timeliness are realized;
In addition, by establishing an independent broadband industrial field bus between each device and the main system 110, the monitoring data related in the monitoring process can be transmitted through the broadband industrial field bus independent of the switch, so that the working service data and the health monitoring data in the control system can be effectively separated, the influence of abnormal data on other devices in a normal working state is avoided, the intelligent health monitoring of the system level is realized on the premise that the functional performance of the whole control system is not influenced, and the normal operation of the control system is effectively maintained.
According to the health monitoring system based on the broadband field bus, provided by the embodiment of the application, by arranging the main system 110 to perform intelligent health monitoring on each device in the target control system 120 independently and arranging the broadband industrial field bus independent of the switch to perform health monitoring data transmission, each device in the control system can be subjected to health monitoring in real time and accurately, and the normal operation of the control system can be effectively maintained.
In some embodiments, the broadband industrial field bus may comprise AUTBUS buses.
In this embodiment, AUTBUS buses are industrial network buses.
As shown in fig. 2, AUTBUS is a two-wire bus that allows one wire to connect all devices within the target control system 120 to the host system 110.
AUTBUS buses can support long-distance transmission, and are beneficial to reducing deployment cost.
In some embodiments, the AUTBUS bus supports automatic bus Power (POA), i.e., it can provide dc Power to devices while transmitting data signals without changing the wiring infrastructure, and can be used in situations where it is inconvenient to Power some spaces in small space.
In the embodiment, by utilizing the high-bandwidth and high-real-time characteristic of AUTBUS buses, health information can be timely and accurately reported, and when abnormal conditions exist, the conditions can be timely known, so that strategy switching can be actively conducted.
According to the health monitoring system based on the broadband field bus, which is provided by the embodiment of the application, the AUTBUS bus is used as a broadband industrial field bus, so that long-distance transmission can be supported, the deployment cost can be reduced, and besides, the health monitoring system based on the broadband field bus is also suitable for a narrow space and has wide application scenes and high universality.
With continued reference to FIG. 1, in some embodiments, the system may further include a target computer.
In this embodiment, the target computer is a computer independent of the target control system 120.
The target computer may be any type of computer, and the application is not limited in this regard.
Where the system includes a target computer, the host system 110 may be deployed within the target computer.
The host system 110 is communicatively coupled to a target computer.
In the actual implementation process, any connection mode which can be realized can be selected for connection.
As shown in fig. 3, one path of the host system 110 is communicatively connected to each device included in the target control system 120 through a broadband industrial field bus, and the other path of the host system 110 may be connected to the target computer through an ethernet.
According to the health monitoring system based on the broadband field bus provided by the embodiment of the application, the main system 110 is arranged in an independent target computer, so that the health management controller and the target control system 120 can be completely isolated, and the monitoring efficiency and the accuracy of the monitoring result are improved.
In some embodiments, host system 110 may be deployed within a target device in at least one device.
In this embodiment, the target devices may be the various devices included in the target control system 120.
The target device may be self-designating based on the user, and the application is not limited herein.
For example, the target device may be a management computer a or a management computer B or the like as shown in fig. 1.
The host system 110 is communicatively coupled to a computer within the target device for health management by the computer of all devices in the overall target control system 120.
According to the health monitoring system based on the broadband field bus, provided by the embodiment of the application, the main system 110 is arranged in the equipment included in the target control system 120, so that the number of the equipment can be reduced, the deployment cost is reduced, and the deployment space is saved.
In some embodiments, host system 110 may include a target chip.
In this embodiment, the target chip is matched to the broadband industrial field bus.
For example, the target chip may be a broadband bus chip KY3001.
KY3001 chip has AUTBUS functions and collecting functions.
With continued reference to fig. 2, the target chip is communicatively coupled to each device via a broadband industrial field bus, respectively.
As shown in fig. 3, in the case that the host system 110 is disposed in a target computer independent of the target control system 120, the target computer is the host system 110 that is a health monitoring system based on a broadband fieldbus, and each device in the target control system 120 is a slave system of the health monitoring system based on the broadband fieldbus, in this case, an interface AUTBUS may be directly transferred out on the target computer through a network port, for example, one way of the KY3001 chip is connected to the target computer through an ethernet, and the other way of the KY3001 chip is connected to each device in the target control system 120 through a AUTBUS bus, so that health monitoring can be performed on each device by the target computer.
In the case where the master system 110 is provided in any one of the devices in the target control system 120, for example, in the management computer a shown in fig. 1, the management computer a is both the master system 110 and the slave system, and the management computer can manage the operation conditions in the control process through the switch and monitor the health status of each device in the target control system 120 through the broadband industrial field bus, which are independent of each other.
In this case, the portal of the KY3001 chip should also be connected to the computer on the management computer a, so that the health monitoring of each device is performed by the computer on the management computer a.
In some embodiments, host system 110 may monitor health status of devices through MaView programming platforms.
In this embodiment, maVIEW (Management of Virtualized Industrial Engineering Workbench) is an integrated platform for performing control system programming configuration in a server or a controller, and includes a development environment (IDE) and an operating environment (RTE) conforming to IEC61131, where the IDE includes core components such as device configuration, virtualized configuration of an industrial server, algorithm configuration, compilation and downloading, and online debugging.
The MaView programming platform has high usability and supports cross-platform applications.
Fig. 4 illustrates a functional schematic of a slave system (i.e., a device in the target control system 120) that is partially interfaced for receiving operating condition information during control, such as device heartbeat signals, fan control information, and production data, and the like, and is further interfaced out of the AUTBUS interface for connection with the master system 110.
In other embodiments, the management functions of the device may be adjusted based on actual requirements, and the application is not limited.
Of course, in other embodiments, health status monitoring of each device may also be performed by other programming platforms.
In the practical application process, the specific content needing health monitoring can be flexibly distributed according to the specific condition of the equipment. The main system 110 configures AUTBUS through MaVIEW, so that the operation condition of each device in the system can be monitored in real time, and some anomalies can be predicted according to the monitored data, so as to provide higher and more reliable guarantee for the stable operation of the whole target control system.
According to the health monitoring system based on the broadband field bus, which is provided by the embodiment of the application, the AUTBUS is configured through MaVIEW, the running condition of each device in the system can be monitored in real time, some anomalies can be prejudged according to the monitoring data, and higher and more reliable guarantee is provided for the stable operation of the whole system.
The embodiment of the application also provides a health monitoring method.
It should be noted that the health monitoring method is applied to the health monitoring system based on the broadband field bus as described in any embodiment above.
As shown in fig. 5, the health monitoring method includes steps 510 and 520.
Step 510, acquiring monitoring data of devices corresponding to the broadband industrial field buses transmitted by the broadband industrial field buses;
in this step, the detection data is data for performing health status detection.
The health status corresponding to different devices may be different and the corresponding monitoring data may be different.
In the present application, the monitoring data is transmitted via a broadband industrial field bus, and the monitoring data is independent of the transmission bus of the production data received or generated by each device during operation.
In some embodiments, the broadband industrial field bus may be a AUTBUS bus.
Step 520, determining health status information corresponding to the device based on the monitoring data.
In this step, the health status information is information for characterizing health conditions corresponding to the respective devices in the target control system 120.
The host system 110 performs individual health status detection on each device in the target control system 120 through the broadband industrial field bus, that is, determines health status information corresponding to each device based on the received monitoring data corresponding to the device.
In some embodiments, the health status information may include at least one of device presence information, device reset information, device operating duration information, power supply information, fan operating status information, circuit board operating status information, fault information, and reliability information.
In this embodiment, the device presence information is used to characterize whether the device is in place.
The device reset information is used to characterize whether the device is reset.
The equipment working time length information is used for managing the service life of the equipment.
The power information is used to characterize the power conditions of the devices in the target control system 120.
The fan operation state information may include a switching condition, a rotation speed control condition, and the like of the fan corresponding to each device.
The circuit board operating state information may include a healthy operating state and an abnormal operating state, and in some embodiments, the circuit board operating state information may be determined based on the heartbeat signal, e.g., in the case where the received heartbeat signal is a healthy heartbeat signal, the circuit board may be approximately considered to operate in a healthy operating state.
The fault information includes information about the device that failed, including the type of fault, the time of the fault, etc.
In some embodiments, in the event of a failure of the circuit board, reporting of failure information may be performed.
The reliability information includes being in a reliable state and being in an unreliable state.
In the practical application process, the specific content of the health monitoring can be flexibly distributed according to the specific condition of the equipment. The main system 110 configures AUTBUS through MaVIEW, can monitor the operation condition of each device in the system in real time, and can predict some abnormalities according to the monitored data so as to provide higher reliable guarantee for the stable operation of the whole target control system.
According to the health monitoring method provided by the embodiment of the application, by arranging the main system 110 and the broadband industrial field bus, intelligent health monitoring can be independently performed on each device based on the monitoring data corresponding to each device in the target control system 120, the accuracy of the monitoring result is high, the real-time performance is high, and the normal operation of the control system can be effectively maintained.
In some embodiments, where the health status information includes reliability information, determining the health status information corresponding to the device based on the monitoring data in step 520 may further include:
reliability information is predicted based on at least one of the electrical signal and the temperature signal included in the monitoring data.
In this embodiment, the electrical signals may include data such as voltage, current, and power of each circuit board during operation.
The temperature signal may include real-time temperature, maximum temperature, minimum temperature, temperature rise information, etc.
In the actual execution process, the collected corresponding electrical signals and temperature signals of the equipment are processed, for example, compared with standard electrical signals and standard temperature signals of the equipment in a normal working state, so as to judge whether the current electrical signals and temperature signals of the equipment are in a normal interval.
In the case where it is confirmed that it is in the normal zone, the device can be approximately regarded as being currently in a reliable state.
In case that it is confirmed that the device is not in the normal zone, the device can be considered to be currently in an unreliable state.
In some embodiments, in the event that the device is determined to be in an unreliable state, alert information may be output to the user.
According to the health monitoring method provided by the embodiment of the application, the reliability condition of each device is predicted, so that the fault information of the device can be predicted in advance, and the early warning of the fault is realized.
According to the health monitoring method provided by the embodiment of the application, the execution subject can be a health monitoring device. In the embodiment of the application, a health monitoring device executing a health monitoring method is taken as an example, and the health monitoring device provided by the embodiment of the application is described.
The embodiment of the application also provides a health monitoring device.
The health monitoring device is applied to the health monitoring system based on the broadband field bus in any embodiment.
The health monitoring device may be disposed in the host system 110.
As shown in fig. 6, the health monitoring device includes a first processing module 610 and a second processing module 620.
A first processing module 610, configured to obtain monitoring data of sub devices corresponding to the broadband industrial fieldbus transmitted by each broadband industrial fieldbus;
the second processing module 620 is configured to determine health status information corresponding to the sub-device based on the monitoring data.
According to the health monitoring device provided by the embodiment of the application, by arranging the main system 110 and the broadband industrial field bus, intelligent health monitoring can be independently carried out on each device based on the monitoring data corresponding to each device in the target control system, the accuracy of the monitoring result is higher, the real-time performance is higher, and the normal operation of the control system can be effectively maintained.
In some embodiments, the second processing module 620 may also be configured to:
in the case where the health status information includes reliability information, the reliability information is predicted based on at least one of the electrical signal and the temperature signal included in the monitoring data.
According to the health monitoring device provided by the embodiment of the application, the reliability condition of each device is predicted, so that the fault information of the device can be predicted in advance, and the early warning of the fault is realized.
The health monitoring device in the embodiment of the application can be an electronic device or a component in the electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal, or may be other devices than a terminal. The electronic device may be a Mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a Mobile internet appliance (Mobile INTERNET DEVICE, MID), an augmented reality (augmented reality, AR)/Virtual Reality (VR) device, a robot, a wearable device, an ultra-Mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), etc., and may also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a Television (TV), a teller machine, a self-service machine, etc., which are not particularly limited in the embodiments of the present application.
The health monitoring device in the embodiment of the application can be a device with an operating system. The operating system may be an Android operating system, an IOS operating system, or other possible operating systems, and the embodiment of the present application is not limited specifically.
The health monitoring device provided by the embodiment of the present application can implement each process implemented by the method embodiment of fig. 5, and in order to avoid repetition, a description thereof will not be repeated here.
In some embodiments, as shown in fig. 7, an electronic device 700 is further provided in the embodiments of the present application, which includes a processor 701, a memory 702, and a computer program stored in the memory 702 and capable of running on the processor 701, where the program, when executed by the processor 701, implements the respective processes of the embodiments of the health monitoring method, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.
The electronic device in the embodiment of the application includes the mobile electronic device and the non-mobile electronic device.
The embodiment of the application also provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the processes of the above-mentioned health monitoring method embodiment, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.
The embodiment of the application also provides a computer program product, which comprises a computer program, wherein the computer program realizes the health monitoring method when being executed by a processor.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.
The embodiment of the application further provides a chip, which comprises a processor and a communication interface, wherein the communication interface is coupled with the processor, and the processor is used for running programs or instructions to realize the processes of the embodiment of the health monitoring method, and can achieve the same technical effects, so that repetition is avoided, and the description is omitted here.
It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.