REMOTE CONTROL SYSTEM USING MOBILE COMMUNICATION TERMINAL
Background of the invention Field of the invention
The present invention relates to a remote control system which can control operation of an apparatus using a mobile communication terminal.
Description of Related Art A home automation stands for a technique to manage operation of various home electronics by using a wire communication or a wireless communication. The home automation has been embodied by an integration remote controlling portion for controlling all home electronics or a technique of turning on or off the home electronics using a wireless phone at a relatively short distance of tens of meters (m).
For example, Korean Application No. 1997-80829 discloses a home automation apparatus using a wireless phone. The home automation apparatus of Korean Application No. 1997-80829 includes various home electronics; control terminals respectively connected to the home electronics and controlling the home electronics in response to a predetermined wireless control; a fixed wireless phone including a home automation voice-guidance apparatus of explaining a use function to a user, storing an identification information of the control terminals and a control function information of the home electronics in a predetermined memory, and performing a certain data format of wireless control to the control terminals using a control code and an identification code of the memory corresponding to a signal transmitted according to a use control of the user by a voice-guidance; and a portable wireless phone for transmitting the user control of the user to the fixed wireless phone.
When the user contact the fixed wireless phone using the portable wireless phone, the fixed wireless phone explains a current state of the home electronics and a control method, and the user can control the home electronics by manipulating keys of the portable wireless phone according to the voice-
guidance of the fixed wireless phone.
However, the home automation apparatus of Korean Application No. 1997-80829 needs the wireless phone set, thereby increasing a cost. In addition, since the wireless phone uses a frequency band of hundreds of mega hertzs (Mhz) and a relative weak output, it is impossible to control the home electronics at a remote distance.
SUMMARY OF THE INVENTION
To overcome the problems described above, preferred embodiments of the present invention provide a remote control system which can control operation of an apparatus even at a remote distance using a mobile communication terminal.
In order to achieve the above object, the preferred embodiments of the present invention provide a remote control system, comprising: a mobile communication terminal including an application program for a remote control installed therein; a controller including an application program for a remote control and a wireless communication module; and a controlled apparatus including a processing portion and communicating with the controller, the processing portion receiving a control command from the controller to control an operation of the controlleed apparatus, wherein a user executes the application program installed in the mobile communication terminal to contact the controller and transmits a control command or a current state confirm request of the controlled apparatus to the controller, and the controller controls an operation of the controlled apparatus in response to the control command the current state confirm request and transmits a current state of the controlled apparatus and a control result to the mobile communication terminal.
The present invention further provides a remote control system, comprising: a mobile communication terminal using a wireless internet service; a central server including a wireless communication module and an application program used for a remote control and a wireless interent service; a controller including a wireless communication module and an application program used for a remote control; and a controlled apparatus including a processing portion
and communicating with the controller, the processing portion receiving a control command from the controller to control an operation of the controlled apparatus, wherein a user contacts the central server using a wireless internet function to transmit a control command and a current state confirm request for the controlled apparatus to the central server, the central server receives the control command and the current state confirm request and changes the control command and the current state confirm request to a format that can be recognized by the application program installed in the controller, the controller controls the controlled apparatus in response to the control command and the current state confirm request transmitted from the central server and transmits wirelessly a control result and a current state of the controlled apparatus to the central server when needed, and the central server transmits the control result and the current state of the controlled apparatus to the mobile communication terminal using the wireless internet service. The present invention further provides a remote control system, comprising: a personal digital assistant including an application program for a remote control and a wireless communication module or connected to a mobile communication terminal including an application program for a remote control installed therein; a controller including a wireless communication module and an application program for a remote control; and a controlled apparatus including a processing portion and communicating with the controller, the processing portion receiving a control command to control an operation of the controlled apparatus, wherein a user executes the application program installed in the PDA to contact the controller and transmits a control command and a current state confirm request of the controlled apparatus to the controller, and the controller controls an operation of the controlled apparatus in response to the control command and the current state confirm request and transmits a control result and a current state of the controlled apparatus to the PDA.
BRIEF DESCRIPTION OF THE DRAWINGS
For a more complete understanding of the present invention and the advantages thereof, reference is now made to the following descriptions taken
in conjunction with the accompanying drawings, in which like reference numerals denote like parts, and in which:
FIG. 1A is a block diagram illustrating a remote control system according a first embodiment of the present invention; FIG. 1 B is a detail block diagram illustrating the remote control system of FIG. 1A;
FIG. 1C shows software architectures of application programs installed in a mobile communication terminal and a controller of FIG. 1 A;
FIG. 2A is a block diagram illustrating a remote control system according to a second embodiment of the present invention;
FIG. 2B a detail block diagram of the remote control system of FIG. 2A;
FIG. 2C shows architectures of application programs installed in a controller and a central server of FIG. 2A;
FIG. 3A is a block diagram illustrating a remote control system according to a third embodiment of the present invention;
FIG. 3B is a detailed block diagram of the remote control system of FIG. 3A
FIG. 3C is an architecture of application programs installed in a PDA and a controller of FIG. 3A; and FIG. 4 is a block diagram illustrating a configuration of the controller according to the embodiment of the present invention.
DETAILED DESCRIPTION OF PREFFERED EMBODIMENTS
Reference will now be made in detail to preferred embodiments of the present invention, example of which is illustrated in the accompanying drawings. Turning now to the drawings, FIG. 1A is a block diagram illustrating a remote control system according a first embodiment of the present invention.
Referring to FIG. 1A, the remote control system includes a mobile communication terminal 110 of a user, a controller 120 including a wireless communication module 121 connected to the mobile communication terminal
110 via a mobile communication network, and controlled apparatus 130. A radio frequency (RF) transceiving module which is a short communication means is
arranged to transmit a data between the controller 120 and the controlled apparatus 130. That is, a RF mater module 123 is arranged in the controller 120, and a RF slave module is arranged in the controlled apparatus 130.
The mobile communication terminal 110 and the controller 120 include an application program such as a virtual machine (VM) which will be described below in detail, respectively. The mobile communication terminal 110 includes a wireless communication module which can perform a wireless communication using a communication technique such as a TDMA, a CDMA, a GSM, and an IMT-2000. The controlled apparatus 130 further includes a predetermined circuit to control operation of the apparatus according a control information received from the RF transceiving module in addition to the RF slave module. The circuit can be embodied in various forms to perform, for example, a power control of the apparatus together with a controlling portion of the apparatus. A configuration of the controller 120 and an application program will be described below in detail.
FIG. 1 B is a detail block diagram illustrating the remote control system according to the first embodiment of the present invention.
Referring to FIG. 1 B, the mobile communication terminal 110 includes a typical wireless communication module, and an authentication module, a command receiving portion, a processing portion, an image processing portion, a receiving portion, a message processing portion, a security module, a transmitting portion, and a controlling portion which are embodied by an application such as a virtual machine. The controller 120 includes a wireless communication module having an innate number and the RF master module, and a receiving portion, an authentication module, a processing portion, a virtual IP management module, a message processing portion, a security module, a transmitting portion, and a controlling portion which are embodied by an application program such as a virtual machine.
The controlled apparatus 130 includes the RF slave module communication with the RF master module 123 of the controller 120, and a
transceiving portion and a processing portion to receive a control signal from the controller 120 and control operation of the controlled apparatus.
Due to the application program, i.e., a virtual machine installed in the mobile communication terminal 110 and the controller 120, the mobile communication terminal 110 can contact the wireless communication module of the controller 120 directly to control, and receive an image information from the controller 120 to confirm. In addition, the mobile communication terminal 110 can receive an information about an abnormal operation of the controlled apparatus 130 and contact the wireless communication module of the controller 120 to see and control a state of the controlled apparatus 130.
Operation of the remote control system according to the first embodiment of the present invention is described below in detail.
A user executes the application program, i.e., virtual machine installed in the mobile communication terminal 110 to contact the wireless communication module of the controller 120, so that an interface is displayed. The user selects a desired menu on the interface to command the controller 120, for example, in order to transmit an image information, a state information of the controlled apparatus 130 and control the controlled apparatus 130.
The command selected by the user is changed to a form that can be transmitted to the wireless communication module of the controller 120, and a security code is added to the command by the security module. Thereafter, the command including the security code is transmitted to the wireless communication module of the controller 120.
The application program, i.e., virtual machine installed in the controller 120 is in standby state to contact the mobile communication terminal 110 at any time. The controller 120 receives a contact request from the mobile communication terminal 110 through the receiving portion and performs an authentication process for the contact request of the user by the authentication module. The authentication module stores an information of the mobile communication terminal 110 such as a phone number, a terminal serial number and an identification code and thus compares the information contained in the contact request with the registered information to perform an authentication.
When the mobile communication terminal 110 is authenticated in the wireless communication module of the controller 120, the processing portion continues to maintain a contact state or produce a virtual IP used to perform a contact finish process to have the virtual IP management module to manage the contact state.
A control command from the mobile communication terminal 110 is analyzed by the receiving portion and the processing portion of the controller 120 and then transmitted, and the transmitted control command is transmitted and processed in the processing portion of the controlled apparatus 130. A control result processed in the controller 120 is transmitted to the controlling portion of the controller 120 and is analyzed and processed in the processing portion. A security code is added to the result, and the result including the security code is transmitted to the mobile communication terminal 110 through the transmitting portion. When the controller 120 detects an abnormal operation of the controlled apparatus 130, the controlling portion and the processing portion analyzes and processes an abnormal state data, and the result including a security code is transmitted to the mobile communication terminal 110 through the transmitting portion. The mobile communication terminal 110 can receive an abnormal state notice message transmitted from the controller 120 without executing the application program thereof. For example, the mobile communication terminal 110 can use a short message service (SMS). Thereafter, the user executes the application program to contact the controller 120 and transmits a current state confirm command to the controller 120. The controller 120 extracts a current state information of the controlled apparatus 130, and produces a message or an image indicating the state and transmits the message or the image to the mobile communication terminal 110.
When the user wants to confirm a current state of the controlled apparatus 130, the user can transmits a command, which requests to transmit an image data, to the controller 120. The image data transmitting command is analyzed in the receiving portion and the processing portion of the controller
120 and transmitted to the controlling portion. The controlling portion extracts an image using an image extracting means such as a camera, and the extracted image is changed by the controlling portion, the processing portion and the security module into an appropriate form and transmitted to the mobile communication terminal 110 through the transmitting portion. Then, the mobile communication terminal 110 changes the received image data into an image data suitable for itself by the processing portion and the image processing portion, thereby displaying the image data on a screen thereof.
FIG. 1C shows software architectures of the application program installed in the mobile communication terminal 110 and the controller 120.
The application program installed in the controller 120 includes the following functions: an accept function, an authentication function, a virtual IP management function, a control function, a parsing function, a SMS function, and a transmitting function. The accept function receives a wireless contact signal, a control command and a contact finish command from the mobile communication terminal 110 and transfers the commands to the control function.
The authentication function performs an authentication in response to a contact request from the mobile communication terminal 110. For this function, the controller 120 stores the information of the mobile communication terminal 110. The mobile communication terminal 110 can be authenticated only when registered.
The virtual IP management function serves to maintain a contact state until a contact finish signal is received unless a contact is abnormally finished when the mobile communication terminal 110 is authenticated.
The control function serves to receives and process a control command from the mobile communication terminal 110. That is, the control function processes the control command in order to transmit the control command to the processing portion of the controlled apparatus 130. Further, the control function receives and analyzes a control result of the control command transmitted to the controlled apparatus 130 and a current state information of the controlled apparatus 130, and then transmits them to the SMS function when operation of
the controlled apparatus 130 is abnormal or transmits them to the transmitting function in order to transmit them to the mobile communication terminal 110 when operation of the controlled apparatus 130 is normal. A serial port is used as an interface between the wireless communication module and the other portions of the controller 120.
The parsing function process the commands from the mobile communication terminal 110 to a data format which can be recognized by the control function and returns it to the control function.
The SMS function receives an abnormal state information from the control function to produce an appropriate short message, and transmits the short message to the mobile communication terminal 110 via the wireless communication network. In case that the mobile communication terminal 110 contacts the controller 120 when the controller 120 detects an abnormal state of the controlled apparatus 130, the abnormal state information of a message form or an image form is transmitted immediately, and the SMS function is used only when the user does not contact the controller 120.
The transmitting function transmits various information such as a result of the control command and a current state information of the controlled apparatus from the controller 120 to the mobile communication terminal 110. In addition to the above-described functions, a function to transmit a data between the RF master module 123 of the controller 120 and the RF slave module of the controlled apparatus 130 can be added, which will described later with reference to FIG. 2C.
The application program installed in the mobile communication terminal 110 includes the following functions: a parsing function, a security function, a transmitting function, a receiving function, and a result processing function.
The parsing function reads a command input by a key input of the user and transmits the command to the security function. The command includes a contact command, a control command to control an operation of the controlled apparatus (e.g., turn-off or turn-on), a current state confirm command of the controlled apparatus 130, and a contact finish command.
The security function serves to insert a security code to the command
input by the user.
The transmitting function serves to transmit the command input by the user to the wireless communication module. In case of the contact command, the transmitting function sets the mobile communication terminal 110 to contact the wireless communication module of the controller 120. In case of the control command, the transmitting function processes the command as an error when the mobile communication terminal 110 does not contact the wireless communication module, but transmits the command to the wireless communication module when the mobile communication terminal 110 contacts the wireless communication module.
The receiving function receives an information such as a control result for the control command and the current state information of the controlled apparatus 130 from the wireless communication module of the controller 120. In case of the contact command, the receiving function receives a result as to whether the mobile communication terminal 110 has contacted the wireless communication module or not. In case of the control command, the receiving function receives a control result.
The result processing function analyzes a result information from the receiving function to display a content indicating a control failure or a control success on a display portion of the mobile communication terminal 110.
The application programs described above can be embodied by a language such as C or Java and are stored in a memory device such as a ROM or RAM.
FIG. 2A is a block diagram illustrating a remote control system according to a second embodiment of the present invention.
Referring to FIG. 2A, the remote control system includes a mobile communication terminal 210 of the user, a mobile communication network, a controller 220 including a wireless communication module 221 , controlled apparatus 240 including a processing portion that receives and processses a control signal from the controller 220, and a central server 230 which is connected to the mobile communication network and an internet to provide a wireless internet service.
The mobile communication terminal 210 can use a wireless internet service provided by a mobile communication company and does not have the application program. The central server 230 serves as a gateway of the mobile communication terminal 210 and the controller 220, and the controller 220 and the central server 230 include wireless communication modules 221 and 231 and application programs for a remote control, respectively.
A configuration of the controlled apparatus 240 is identical to that of FIG. 1A and thus its description is omitted to avoid a redundancy.
The central server 230 serves as a wireless internet server having a function such as a wireless application protocol (WAP) as well as a common web server, so that the mobile communication terminal 210 uses various wireless internet services.
FIG. 2B a detail block diagram of the remote control system of FIG. 2A. Referring to FIG. 2B, The application program installed in the central server 230 includes a receiving portion, an authentication module, a transmitting portion, a processing portion, a message processing portion, a wireless connection management module, a management module, a security module, a multiple user management module, a deconcentration module, and a multiple mobile terminal management module. The controller 220 has a similar configuration to that of FIG. 1A, and further includes a transceiving module which is the wireless communication module 221 , a security module, a processing module, a message processing portion, and a controlling portion for controlling all components of the controller 220. The controlled apparatus 240 includes a controlling portion including a transceiving portion and a processing portion which receive a control signal from the controller 220 to control the controlled apparatus 240.
Operation of the remote control system of FIG. 2A is described below in detail. A user contact the central server 230 using the wireless internet service function of the mobile communication terminal 210 via the mobile communication network and the internet. The receiving portion of the central
n
server 230 receives a contact signal form the mobile communication terminal 210 and performs an authentication process.
When the user is authenticated, a command signal from the mobile communication terminal 21 is received, and the command signal is changed to a format that can be transmitted to the controller 220. A security code is inserted to the command signal by the security module, and the message processing portion processes the message. The processed message is transmitted to the wireless communication module of the controller 220 by the transmitting portion. At this time, the management module and the wireless management module of the central server 230 set a contact with the wireless communication module of the controller 220 and manages a contact scheme before transmitting the processed command signal to the wireless communication module of the controller 220.
The wireless communication module of the controller 220 receives the command signal from the central server 230, and analyzes and processes the received command signal and transmits the command to the controlling portion. The controlling portion transmits the command to the transceiving portion (e.g., serial port such as RS232 or wireless communication module such as RF transceiving module) of the controlled apparatus 240, and the processing portion controls operation of the controlled apparatus in response to the command.
The processing portion of the controlled apparatus 240 extracts a control result information such as a current state information of the controlled apparatus 240 and transmits the control result information to the controlling portion of the controller 220. The processing portion and the message processing portion of the controller 220 analyze and processes the control result information. A security code is inserted to the control result information by the security module, and the control result information including the security code is transmitted to the wireless communication module of the central server 230 through the transmitting portion. The central server 230 transmits the control result information to the mobile communication terminal 210 using the wireless internet function.
When an operation of the controlled apparatus 240 is abnormal, the processing portion of the controlled apparatus 240 transmits an abnormal state information to the controlling portion of the controller 220. The controller 220 produces a short message including a security inserted thereto using the wireless communication module and the SMS sen/ice and transmits the short message including the security code to the mobile communication terminal 210. The user contacts the central server 230 to confirm the abnormal state. Here, a process for transmitting the abnormal state information from the controller 220 to the central server 230 is similar to a process for transmitting the control result information.
The central server 230 uses the deconcentration module in order to reduce a server load due to a multiple contact of a multiple user and improve a server function. The central server 230 manages the multiple user using the multiple mobile terminal management module in order to transmit the command of the multiple user from the mobile communication terminal 210 to the controller 220.
FIG. 2C shows architectures of the application program installed in the controller 220 and the central server 230. In the present invention, the wireless internet service using a wireless application protocol (WAP) is preferably used. The application program installed in the central server 230 includes a
WAP processing function, an authentication function, a sorting function, a management function, a deconcentration function, a parsing function, a security function, a wireless transmitting function, a wireless receiving function, and a data processing function. The WAP processing function accepts a WAP contact request from the mobile communication terminal 210.
The authentication function performs authentication by analyzing a header information of the WAP contact request.
The sorting function grasps a kind of the mobile communication terminal 210 by analyzing the contact request from the mobile communication terminal 210 to classify a data to be transmitted to the mobile communication terminal 210 according to an appropriate format and form.
The management function manages a contact from the multiple user since the multiple user can contact thereto.
The deconcentration function deconcentrates a contact from the multiple user that excesses a server capacity. That is, the central server 230 includes a plurality of servers according to a contact capacity.
The parsing function receives a command from the mobile communication terminal 210 and changes the command to a format that can be transmitted to the controller 220.
The security function inserts a security code to the command signal transmitted from the mobile communication terminal 210 when the command signal is transmitted to the controller 220.
The wireless transmitting function sets a connection to the wireless communication module of the controller 220 and transmits the command signal to the controller 220. The wireless transmitting function finish a connection to the controller 220 when a message is not transmitted or received during a predetermined time period or when the user transmits the contact finish command.
The wireless receiving function receives the result for the command from the controller 220. The data processing function analyzes and processes the result data from the controller 220 and changes the result data to a format suitable for the mobile communication terminal 210.
The application program installed in the controller 220 includes a wireless receiving function, an authentication function, a control command parsing function, a RF code generator, a RF transmitting function, a RF receiving function, a received data parsing function, and wireless transmitting function.
The wireless receiving function sets a connection by accepting a wireless contact request from the central server 230 and receives a data. A connection between the controller 220 and the central server 230 is maintained until the central server 230 finishes a connection.
The authentication function performs an authentication of the user that
transmits a control command when the control command is received. When the user is not authenticated, the authentication function finishes a connection.
The control command parsing function analyzes and processes a command of the user and changes the command to a format that can be recognized by the RF transceiving portion of the controller 220 and the controlled apparatus 240.
The RF code generator generates an identification code to discriminate the respective RF slave modules. This is because the RF master module 223 of the controller 220 and the RF slave module of the controlled apparatus include an innate identification code, and one RF master modules communicates with a plurality of RF slave modules.
The RF transmitting function transmits a RF control signal from the RF master module 223 to the corresponding RF slave module.
The RF receiving function reads a data transmitted from the RF master module. Since the RF slave module includes its identification code, it is possible to discriminate the RF slave module that has transmitted the data.
The received data parsing function analyzes and processes the data from the RF master module 223 and changes the data to a format that can be transmitted to the central server 230. The wireless transmitting function transmits the data from the received data parsing function to the central server 230 through the wireless communication module.
FIG. 3A is a block diagram illustrating a remote control system according to a third embodiment of the present invention. Referring to FIG. 3A, the remote control system includes a personal digital assistant (PDA) 310 of the user, a controller 320 to receive a control command from the PDA 310 to control a controlled apparatus, and the controlled apparatus 330 including a processing portion and a RF transceiving portion. The PDA 310 can include a wireless communication module therein or can contact a mobile communication network through a mobile communication terminal 311 connected thereto via a cable.
The user contacts a wireless communication module 321 of the controller 320 using the wireless communication module or the mobile communication terminal 311. An application program is installed in the PDA 310 and the controller 320 to wirelessly contact each other. The PDA 310 includes a wireless connection management module to contact the wireless communication module 321 of the controller 320 or manage a connection to the wireless communication module 321 of the controller 320, and a transmitting/receiving portion to transmit/receive a control command and a current state information of the controlled apparatus 330. FIG. 3B is a detailed block diagram of the remote control system of FIG.
3A.
The user who wants to remote-control the controlled apparatus 330 executes the application program installed in the PDA 310 to contact the wireless communication module 321 of the controller 320, i.e., contact a IWF network. The controller 320 perform a user authentication to accept a contact request of the user, and transmits a current state information of the controlled apparatus 330 from the RF slave module to the PDA 310. The PDA transmits a control command input by the user to the wireless communication module 321 of the controller 320. The application program performs a wireless contact function and an image output function and is executed after the user is authenticated by the authentication module.
The PDA receives the control command input by the user through the receiving portion, and the processing portion and the message processing portion analyze and process the control command appropriately. A security code is added to the processed control command by the security module, and the command including the security code is transmitted, through the transmitting portion, to the wireless communication module 321 of the controller 320 which is set to communicate with the PDA 310 through the management module and the wireless connection management module. The wireless communication module 321 of the controller 320 receives the control command through the receiving portion from the PDA 310. The received control command is analyzed and processed through the processing
portion and then is transmitted to the RF slave module of the controlled apparatus 330 through the RF master module 323 of the controller 320. The processing portion of the controlled apparatus controls the controlled apparatus in response to the control command. FIG. 3C is an architecture of the application programs installed in the
PDA 310 and the controller 320. An architecture of the application program is similar to that of FIG. 2C, and thus its description is omitted to avoid a redundancy.
The application program installed in the PDA 310 includes an contact function, a control command receiving function, a parsing function, a security function, a wireless transmitting function, a wireless receiving function, a data processing function, and a display function.
The contact function contacts the wireless communication module 321 of the controller 320 in response to a contact command of the user, The control command receiving function receives a command such as a control command and a current state confirm command of the controlled apparatus 330 from the user.
The parsing function analyzes the command from the user and changes the command to a format that can be transmitted to the controller 320. The security function inserts a security code to a data changed by the parsing function.
The wireless transmitting function tries to contact the wireless communication module 321 of the controller 320 when the PDA 310 is not set to contact the wireless communication module 321 , and transmits the control command to the controller 320 when the PDA 310 is set to contact the wireless communication module 321.
The wireless receiving function receives a processing result for a control command and a current state information of the controlled apparatus 330 from the controller 320. The data processing function analyzes and changes a data received from the controller 320 to be displayed on the PDA 310.
The display function displays the data transmitted from the data
processing function.
FIG. 4 is a block diagram illustrating a configuration of the controller according to the present invention. The controller of FIG. 4 includes a wireless modem 421 , a controller body 422 including a central processing unit (CPU) 422a, a ROM 422b, a RAM 422c, and I/O ports 422d and 422e, and a RF master module 423. The wireless modem 421 is connected to the I/O port 422d, and the RF master module 423 is connected to the I/O port 422e.
The application program is stored in the ROM 422b, and the RAM 422c stores an information such as an information for the mobile communication terminal of the user and an IP information of the central server.
The wireless modem 421 is serially connected to the controller body
422 and controlled by the application program stored in the ROM 422b to transmit or receive a data. The wireless modem 421 also analyzes and processes the data and transmits a control signal to the RF slave module of the controlled apparatus through the RF master module.
As described above, a remote control system can control operation of an apparatus even at a remote distance using a mobile communication terminal. Since a current state and a control result state of the controlled apparatus are transmitted to the mobile communication terminal of the user, the user can cope effectively with the abnormal operation of the controlled apparatus when operation of the controlled apparatus is abnormal. Therefore, a better home automation can be achieved.
While the invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing and other changes in form and details may be made therein without departing from the spirit and scope of the invention.