阅读说明：本技术 用于从肌电图信号检测吸入和提取神经呼吸驱动的量度的方法和系统 (For detecting the method and system of sucking and the measurement of the neural respiration drive of extraction from electromyogram signal ) 是由 J·范德拉尔 S·M·L·德沃特 R·M·M·德尔克斯 于 2018-04-13 设计创作，主要内容包括：本发明提供了一种用于检测用户的神经呼吸驱动量度的方法。所述方法包括获得EMG信号和处理所述EMG信号以产生代用呼吸信号和经处理的EMG信号。然后基于所述代用呼吸信号来检测所述用户的吸入。然后将检测到的吸气与经处理的EMG信号结合使用,以确定所述用户的神经呼吸驱动量度。(The method that the neural respiration drive that the present invention provides a kind of for detecting user is measured.The method includes obtaining EMG signal and handle the EMG signal to generate alternative breath signal and processed EMG signal.The alternative breath signal is then based on to detect the sucking of the user.Then the air-breathing that will test is used in combination with processed EMG signal, is measured with the neural respiration drive of the determination user.)

1. a kind of method (10) that the neural respiration drive for extracting user is measured, which comprises

It obtains EMG signal (100)；

The EMG signal is handled to generate processed EMG signal (280)；

The EMG signal is handled to generate alternative breath signal (200)；

The air-breathing (300) of the user is detected based on the alternative breath signal；And

Neural respiration drive measurement (400) is determined according to the air-breathing and processed EMG signal that detect.

2. according to the method described in claim 1, wherein, handling the EMG signal to generate alternative breath signal and being included in institute It states and executes spike removal (210) on EMG signal.

3. according to claim 1 to equipment described in any one of 2, wherein handle the EMG signal to generate alternative breathing Signal includes that the first high-pass filter is applied to the EMG signal (220).

4. according to the method described in claim 3, wherein, the cutoff frequency of first high-pass filter is greater than or equal to 150Hz, for example, 200Hz.

5. the method according to any one of the preceding claims, wherein handle the EMG signal to generate alternative breathing Signal includes executing envelope detected on the EMG signal, wherein the envelope detected includes:

To EMG signal application rectification operator, to generate the second EMG signal (230)；And

Low-pass filter is applied to second EMG signal (260).

6. according to the method described in claim 5, wherein, second EMG signal includes the similar energy of the EMG signal Measurement.

7. according to the method described in claim 6, wherein, the measurement of the similar energy of the EMG signal includes Teager- At least one of Kaiser energy and regular power.

8. according to the method described in claim 5, wherein, the rectification operator include in absolute value operators and square operator extremely It is one few.

9. the method according to any one of the preceding claims, wherein handle the EMG signal to generate alternative breathing Signal includes carrying out down-sampling (240) to the EMG signal.

10. the method according to any one of the preceding claims, wherein handle the EMG signal to generate alternative exhale Inhaling signal includes that median filter is applied to the EMG signal (250).

11. the method according to any one of the preceding claims, wherein processing EMG signal is to generate alternative breathing letter It number include that the second high-pass filter is applied to the EMG signal (270).

12. the method according to any one of the preceding claims, wherein the method also includes being exhaled based on the nerve Driving measurement is inhaled to calculate the neural respiration drive of the user.

13. a kind of computer program including computer program code modules, when the computer program is run on computers When, the computer program code modules are adapted for carrying out method according to any preceding claims.

14. a kind of controller (650) that the neural respiration drive for determining the user in EMG measuring system is measured, wherein institute Controller is stated to be suitable for:

Obtain EMG signal；

The EMG signal is handled to generate processed EMG signal；

The EMG signal is handled to generate alternative breath signal；

The air-breathing of the user is detected based on the alternative breath signal；And

Neural respiration drive measurement is determined according to the air-breathing and processed EMG signal that detect.

15. a kind of sucking detection system (600), comprising:

EMG electrode (620) is suitable for measuring the EMG signal；And

Controller (650) according to claim 14.

Technical field

The present invention relates to field of signal processing, relate more specifically to electromyogram (EMG) field of signal processing.

Background technique

With in chronic obstructive pulmonary disease (COPD) and the patient of other respiratory diseases, measured from surface electromyography Parasternal and/or the assessment of diaphragm muscle activity can be used for estimating intensity, timing and the duration of patient respiratory effort.This It can be used as the index balanced between respiratory muscle load and respiratory muscle ability.EMG signal and neural respiration drive during sucking (NRD) related.During lung is excessively inflated, as observed during COPD patient acute attack, respiratory muscle load and capacity Between balance change, this is reflected in neural respiration drive.Lower ability and higher load cause increased NRD.The EMG signal measured via EMG electrode from respiratory muscle during sucking, such as the parasternal muscle from the second intercostal space Or abdomen diaphragm is come from, it may be used as patient deterioration or improved instruction.This be also used as discharge after readmission prediction because Son.

In order to assess the respiratory muscle activity during sucking, it is thus necessary to determine that time interval corresponding with sucking.In general, using The signal of nose conduit measurement sucks interval to determine.For example, nasal intubation can be connected to differential pressure pickup with identify air-breathing and Expiration phase (as air separately flows into and flows out), to guide NRD manual analyzing.However, in practice, coming from nasal intubation Signal be usually insecure and/or polluted by signal artifacts.For the COPD patient being admitted to hospital by acute exacerbation, such case Especially common, they often undergo respiratory nasal and/or breathe unstable difficulty.Nasal intubation signal quality is low to lead Cause algorithm that can not calculate NRD value, because can not reliably detect from nasal intubation signal to sucting stage.In addition, if counting Calculate NRD value, then may be due to detected from nasal intubation signal mistake sucting stage caused by NRD value it is incorrect, from And it may cause the misunderstanding reading to status of patient.May be uncomfortable to patient in addition, wearing nose conduit, especially in long-term continuous note During record.

There are many bad reasons of nasal intubation signal quality.Firstly, nasal intubation may be improperly inserted nostril, Huo Zhe It may fluff during measurement period.In addition, signal artifacts may be this movement as caused by being intubated the movement inside nostril When may be mobile in patient or coughing.Another is common issue is that patient may partly or wholly be exhaled by mouth It inhales, in this case, nasal intubation signal may be very faint and has noise.Finally, in nasal intubation signal there may be Biggish needle position misalignment, this may cause the sucking identification of mistake.

Therefore, it is necessary to a kind of more reliable approachs to determine the expiratory phase in EMG signal, without a large amount of additional Hardware.

Summary of the invention

The present invention is defined by the claims.

Example according to an aspect of the present invention, provide it is a kind of for extract user neural respiration drive measure Method, which comprises

Obtain EMG signal；

The EMG signal is handled to generate processed EMG signal；

The EMG signal is handled to generate alternative breath signal；

The air-breathing of the user is detected based on the alternative breath signal；And

Neural respiration drive measurement is determined according to the air-breathing and processed EMG signal that detect.

This method only exports the air-breathing of the user from the EMG signal of user.Sucking detection usually by nasal intubation come It carries out；However, this may be inaccurate and uncomfortable for a user.By using only derived from EMG signal it is alternative Breath signal detects the air-breathing of user, can obtain more accurate measurement result.This is because EMG signal measurement is muscle Movable rather than air-flow, it means that user can be by nose or mouth breathing without interfering EMG signal.In addition, due to EMG signal is measured by external electrode, therefore the measurement is more comfortable for a user.

EMG signal is also treated to generate processed EMG signal, such as the RMS of EMG signal or being averaged for EMG signal Absolute value.By detecting the air-breathing of user from alternative breath signal and air-breathing and processed EMG signal being carried out the time pair Together, the neural respiration drive measurement of user can be identified.Time unifying refers to two signals of alignment and that they are shown is identical Time window process.The neural respiration drive of user is measured, such as peak inspiration RMS EMG value, may be constructed user's The basis of many clinical parameters (such as NRD).

The raw EMG signal directly obtained from user generally comprises much noise and ECG signal.By handling EMG signal To generate alternative breath signal, signal-to-noise ratio can be improved, to improve the accuracy of sucking detection.Simple threshold value can be passed through To detect sucking from alternative breath signal.In other words, if signal rises to predetermined value or more, air-breathing is detected.It replaces The threshold value dependent on signal can be used in Dai Di.

In one embodiment, processing EMG signal includes executing spike to EMG signal to go to generate alternative breath signal It removes.

For a variety of reasons, such as the pacemaker of user, transient peak are likely to appear in EMG signal.These spikes Signal may be non-physiologic, it means that they do not indicate muscle activity, therefore useful letter will not be provided for EMG signal Breath.Momentary spike is also possible to physiological, such as due to ECG signal.By the spike in removal EMG signal, can be improved Signal-to-noise ratio.

In some embodiments, handling EMG signal to generate alternative breath signal includes by the first high-pass filter application In EMG signal.

In a further embodiment, the first high-pass filter has the cutoff frequency more than or equal to 150Hz.In general, choosing 200Hz is selected as cutoff frequency.

EMG signal would generally be polluted comprising ECG signal.By the way that the first high-pass filter is applied to EMG signal, can subtract Less and/or elimination ECG signal pollutes.In addition, the puppet of the various low frequencies in EMG signal can also be reduced using the first high-pass filter Mark and noise.

In one arrangement, being handled EMG signal to generate alternative breath signal includes executing envelope to EMG signal Detection, wherein the envelope detected includes:

To EMG signal application rectification operator, to generate the second EMG signal；And

Low-pass filter is applied to second EMG signal.

The envelope detected calculates the lower-frequency envelope measurement of high frequency E MG signal, indicates the breathing of user.By that will rectify Operator is applied to EMG signal, signal averaging can be prevented to zero.Then low-pass filter is applied to the second EMG signal, thus EMG envelope signal is generated, the basis of sucking detection is then used as.Low-pass filter acts also as the final smooth rank of signal Section, to reduce the noise in EMG signal.

In another kind arrangement, the second EMG signal includes the measurement of the similar energy of EMG signal.

In another arrangement, the measurement of the similar energy of EMG signal includes Teager-Kaiser energy and conventional energy At least one of amount.

Teager-Kaiser energy operator is efficient and easy to implement, it means that can not negatively affect system performance In the case where calculate EMG signal the similar energy measurement.Regular power is only the summation of multiple quadrature signal values.

In one embodiment, rectification operator includes at least one of absolute value operators and square operator.

By that can be rectified to EMG signal to EMG signal application rectification operator, such as absolute or square operator, and Signal envelope detection is executed by low-pass filter.

In some designs, processing EMG signal includes carrying out down-sampling to EMG signal to generate alternative breath signal.

Down-sampling is the process for reducing signal sampling rate, and the process is used to reduce the size of signal data collection.In this way, can To reduce memory and processing requirement for handling EMG signal.

In one embodiment, processing EMG signal includes that median filter is applied to EMG to generate alternative breath signal Signal.

By using median filter, any remaining remaining spiking can be removed from EMG signal, these are residual The spiking stayed is not removed by initial peak removal or the first high-pass filter.

In one arrangement, handling EMG signal to generate alternative breath signal includes being applied to the second high-pass filter The EMG signal.

By the way that the second high-pass filter is applied to EMG signal, the baseline component of signal can be removed.By this method, may be used To remove the potential signal trend unrelated with sucting stage is determined from EMG signal.This may result in more accurate alternative breathing Signal, and therefore more accurately sucking detection.

In some arrangements, the method also includes measuring to calculate the nerve breathing of user and drive based on neural respiration drive It is dynamic.

By calculating the neural respiration drive of user, the respiratory function and health of user can be monitored.

Example according to an aspect of the present invention provides a kind of computer journey including computer program code modules Sequence, when the computer program is run on computers, the computer program code modules are adapted for carrying out as described above Method.

Example according to an aspect of the present invention provides a kind of air-breathing detection system, comprising:

EMG electrode is suitable for measurement EMG signal；And

Controller, wherein the controller is suitable for:

Obtain EMG signal；

The EMG signal is handled to generate processed EMG signal；

The EMG signal is handled to generate alternative breath signal；

The air-breathing of the user is detected based on the alternative breath signal；And

Neural respiration drive measurement is determined according to the air-breathing and processed EMG signal that detect.

Detailed description of the invention

Detailed description of the present invention example with reference to the drawings, wherein

Fig. 1 shows the method for embodiment according to the present invention；

Fig. 2 shows a series of curve graphs, and which illustrates the various methods compared with the signal acquired from nasal intubation in Fig. 1 EMG signal during step；And

Fig. 3 shows sucking detection system.

Specific embodiment

The method that the neural respiration drive that the present invention provides a kind of for detecting user is measured.The method includes obtaining EMG signal and the processing EMG signal are to generate alternative breath signal and processed EMG signal.It is then based on described alternative Breath signal detects the sucking of the user.Then the air-breathing that will test is used in combination with processed EMG signal, with true The neural respiration drive measurement of the fixed user.

Fig. 1 shows the air-breathing for detecting user according to one embodiment and determines user's using these air-breathings The method 10 of neural respiration drive measurement.

In step 100, EMG signal is obtained from user.For example, can be by being placed on the second Intercostal Space of patient Two EMG electrodes measure EMG signal, and one of electrode is located at the either side of breastbone.510 are drawn in Fig. 2 by emg_raw Curve graph 500 in show the exemplary EMG signal measured by this method.

Since EMG signal obtained will be polluted comprising a large amount of noise and ECG, EMG signal can undergo a system Column processing step 200, will the alternative breath signal used in sucking detection to generate.

In step 210, spike removal can be executed to EMG signal.It, may be for example, due to the pacemaker of user Occurs of short duration non-physiologic peak value in EMG signal.Momentary spike is also possible to physiological, such as due to ECG signal.Pass through The spike in EMG signal is removed, signal-to-noise ratio can be improved.

In a step 220, the first high-pass filter is applied to combination signal.The cutoff frequency of first high-pass filter is big In or equal to 150Hz.200Hz is typically chosen as cutoff frequency.

First high-pass filter, which is applied to EMG signal, will reduce the low-frequency noise in signal and motion artifacts.EMG signal It may include tonic activity signal corresponding with physiological reaction slow in muscle, such as the measurement position with EMG signal The related tonicity intercostal muscle activity of the particular pose at place.These signals are not used for executing sucking detection, therefore in EMG Noise is served as in signal.Due to the low frequency characteristic of tonic activity signal, the first high-pass filter can press down to a certain extent It makes and/or eliminates them.

In addition to tonic activity, EMG signal may also be polluted comprising a large amount of ECG signal.The frequency range of ECG signal is logical It is often 0.01-300Hz, and the frequency range of EMG signal is 50-3000Hz.Pass through the high-pass filtering for being 200Hz by cutoff frequency Device is applied to the EMG signal obtained, it is possible to reduce and/or eliminate ECG pollution.Motion artifacts and other noises may be derived from a variety of Source, for example, since user's chest exercise leads to EMG dislocation of electrode or pulls caused by being connected to the cable of electrode.These can also To be reduced and/or be removed by the first high-pass filter.

In step 230, rectification operator is applied to EMG signal, generates the second EMG signal.Rectification is to turn EMG signal It is changed to unipolarity.Full-wave rectification can be easily realized by absolute value operators.Alternatively, it can also be realized by square operator Rectification, described square of operator by signal value carry out square.This is done to ensure that signal is not put down when for statistical analysis It is zero.In another example, EMG signal can be realized by executing Hilbert transform to the EMG signal of parsing Rectification.

Rectification operator can produce the absolute value of EMG signal or the measurement of similar energy, such as routine or Teager- Kaiser energy.

Alternative breath signal is formed by the absolute value of EMG signal or the measurement of similar energy, greatly simplifies progress Suck the process of detection.Regular power is defined as signal square (smoothed version).Come using Teager-Kaiser operator The Teager-Kaiser energy of EMG signal is calculated, as follows:

Wherein, Ψ is Teager-Kaiser operator；X is the function of time, such as EMG signal；Function x about when Between first derivative；AndIt is second dervative of the function x about the time.Due to absolute value and routine and Teager- Kaiser energy operator is computationally uncomplicated, therefore they can be real in the case where not dramatically increasing system processing requirement It is existing.

In step 240, down-sampling can be executed to EMG signal.

Down-sampling reduces the sample rate of EMG signal, to reduce the size of signal data collection.This then can reduce analysis With processing capacity and memory needed for processing signal.Air-breathing detection can be based on the low frequency characteristic of EMG signal envelope, it means that The reduction of signal sampling rate not will lead to the reduction of air-breathing detection performance or accuracy.In other words, can execute down-sampling with Increase the efficiency of sucking detection process, while keeping the accuracy of result.Drawing emg_ds 520 is shown to removal (part) The measurement of the similar energy of the high-pass filtering emg_raw signal 510 of spike executes the result of down-sampling.

In step 250, median filter can be applied to EMG signal.

Median filter is a kind of nonlinear filter, for inhibiting to remain in any spiking in EMG signal, together When will not erase those spikings again.The drawing emg_med 530 of Fig. 2, which is shown, is applied to down-sampling for median filter The result of EMG signal energy emg_ds 520 afterwards.By comparing two curve graphs, it may be clearly seen that due to median filtering Caused by device in EMG signal energy remaining spike quantity reduction.The filter is by following come work: obtaining signal value It is compared, then using intermediate value as the output valve of the position in sequence by the value in sequence with consecutive value.It can be for letter The sequence of number value defines filter as follows:

Y (n)=F { x (n), L },

Wherein, y (n) is n-th of output valve；F is median filtering operator；X (n) is n-th of signal value；And L is to be used for Calculate the quantity of the continuous signal value of output valve.For example, the signal of the two sides x (n), i.e. x (n are used only in the comparison for L=3 + 1) and x (n-1), to calculate output valve y (n).In another example, last three values in sequence, i.e. x can be used (n), x (n-1) and x (n-2).For first example, for each signal value, output valve y (n) is given in sequence Value:

X [n+L/2-1] is arrived for even number L, x [n-L/2], or

X [n+ (L -1)/2] is arrived for odd number L, x [n-(L -1)/2].

In step 260, the first low-pass filter is applied to EMG signal.

Low-pass filter is applied to previously through over commutation and with the EMG signal of after-purification, to execute envelope estimation and letter Number smooth final stage.Step 230 includes executing the function of envelope detected to step 260.Alternatively, step can only be passed through 230 and 260 detect to execute envelope.Drawing emg_lpf540 shows final EMG envelope signal, this is by low-pass filtering Device is applied to the result of median filtering, down-sampling, rectified EMG signal emg_med 530.It, can be with by comparing two figures Any high fdrequency component that can be clearly seen that emg_med draws is removed, to provide envelope letter shown in emg_lpf drawing Number.

In step 270, the second high-pass filter can be applied to EMG signal.

The second high-pass filter can be introduced into remove baseline or background component signal from EMG signal.Baseline removal is used In the signal that acquisition is oscillated around zero, this may be necessary detection air-breathing.In addition, removal baseline is likely to reduced background The influence of signal simultaneously emphasizes actual signal, and background signal may introduce flaw tendencies to data.Which increase the standards of sucking detection True property.Drawing emg_hpf 550 is alternative breath signal, shows the second high-pass filter being applied to envelope signal emg_ The result of lpf 540.

Above-mentioned steps form a processing branch, and relatively heavy pretreatment is applied to original EMG by the processing branch Signal.Meanwhile it is less to the pretreatment of EMG signal, to generate processed EMG signal.The branch is as described below.

In step 280, EMG signal is treated to generate processed EMG signal, such as the RMS or EMG of EMG signal The average absolute value of signal.The RMS of EMG signal can calculate as follows:

Wherein, x_rmsIt (t) is RMS EMG signal；And T₁And T₂It is the beginning for being covered each by the period of signal of interest And the end time.

In step 300, the air-breathing of user is detected based on the alternative breath signal generated by processing step 200.

Signal emg_hpf 550 and simple threshold values 555 can be used to detect air-breathing situation.If signal is more than threshold value, Then detect air-breathing.Threshold value can for example be arranged to 0；However, threshold value also can be set in any other aspiration level.Threshold value Can also be exported in such a way that self-adapting data is relevant, it means that can the amplitude based on such as signal come the position of threshold value It sets.It can be compared with signal nasal_cannula 560, wherein the paddy of signal represents air-breathing, and peak represents and leads to Cross the expiration of the user of nose conduit measurement.

Check the 20 second time between 320s and 340s, it may be clearly seen that emg_hpf signal detection is more to user Secondary air-breathing.And nasal_cannula signal detection to inspiratory capacity want much less, in about 10 seconds periods, do not have at all Detect air-breathing.This species diversity may be due to patient by their mouth rather than what respiratory nasal occurred, this meaning Nasal intubation can not detect sucking.Due to EMG signal be not dependent on patient be by mouth or respiratory nasal, will not be wrong Cross any sucking.This causes whole sucking detection and the calculating of neural respiration drive measured value to have higher accuracy.

In step 400, neural respiration drive measurement is determined based on the air-breathing and processed EMG signal that detect.

It can be measured based on neural respiration drive to calculate the neural respiration drive of user.As described above, with detecting Sucking accuracy raising, the accuracy of neural respiration drive is also improved.

Fig. 3 shows the system 600 of the air-breathing for detecting user 610.

Two EMG electrodes 620 are provided at the second intercostal space of user, one of electrode be located at breastbone two sides it One.Alternatively, electrode can be located at the upper abdomen of user, thus EMG signal of the measurement from diaphragm.Electrode can be individually to paste The form of piece provides, and to bestow to user, or is used alone.

The EMG signal of EMG electrode detection user, EMG signal are then provided to signal processing unit 630.Signal Processing unit may include analog-digital converter 640, and EMG signal will be simulated by, which being suitable for, is converted to digital form.In this way, EMG signal can be handled by digital display circuit.

Then digitized EMG signal can be supplied to controller 650, the controller 650 is suitable for processing EMG signal To generate alternative breath signal.The controller is further adapted for detecting the air-breathing of the user based on the alternative breath signal. In addition, controller can be adapted to handle EMG signal to generate processed EMG signal, and based on the air-breathing detected and Processed EMG signal determines the neural respiration drive measurement of user.The air-breathing that detects or neural respiration drive measurement can be with Form the output 660 of controller, the NRD that then can calculate user using the output 660 by another processor.Alternatively, The calculating of NRD can be executed by controller 650, in this case, output 660 can be the NRD of user.The output of controller It can be provided to the user interface of system, or other processing system can be provided to.Controller can be microcontroller Device or any other suitable processor.

Processing step sequence given above is purely as example.

For example, any high-pass filter operation can be realized by bandpass filter, because uninterested highest will be present Frequency field, therefore can also be filtered out.Similarly, any low pass filter operation can be realized by bandpass filter, because For uninterested low-limit frequency region will be present, therefore can also be filtered out.

Different signal processing steps is explained above, so that the operation of method and system is clear.In practice, original EMG signal will be digitized first, and then all follow-up signal processing are realized by digital information processing system.At this signal In reason, different processing steps is not necessarily and can individually distinguish.In addition, some signal processing functions are optional.

It for example, down-sampling step 240 is not the basis of basis signal processing concept, and is entirely optional.

The baseline removal executed by the second high-pass filter 270 is also optionally, because rising edge and decline can be based on Along analyzing previous envelope signal, rather than by threshold application in the version of the removal baseline of signal.In this case, generation It will be using the form of the emg_lpf curve 540 of Fig. 2, rather than the form of emg_hpf curve 550 with breath signal.

210 can also be eliminated without using initial peak, because subsequent filtering operation may be enough to prevent signal processing knot Fruit damage.

Therefore, it is however generally that, signal processing includes filtering to remove ECG pollution, determines signal absolute value or similar energy Measure, be then smoothed, expiratory phase then can be determined from smoothed signal.Then, suction detected Gas stage and processed EMG signal can be used for determining the neural respiration drive measurement of user.

It is simple and wieldy the invention allows to carry out, it is accurately measured with reproducible (automatic) NRD, institute Stating measurement can be for example in the family for monitoring the breath state of COPD patient.The system is easy to patient's use, because of the survey Amount is likely to self-management and reasonable price.In particular, single sensor patch can be used for EMG signal acquisition and sucking inspection It surveys, without differential pressure pickup.

The system can be used for measuring NRD or consider any other respiratory effort parameter of air-breathing and expiratory duration interval.Such as Upper described, embodiment uses signal processing unit.Signal processing unit can realize in many ways with software and/or hardware, To execute required various functions.Processor is an example of controller, uses and software (for example, microcode) can be used The one or more microprocessors of programming execute required function.However, controller can be used with or without processor In the case where realize, and be also implemented as specialized hardware for executing some functions with for executing other function The combination of processor (for example, microprocessor and associated circuit of one or more programmings).

Can the example of the controller part used in the various embodiments of the disclosure include but is not limited to conventional micro- place Manage device, specific integrated circuit (ASIC) and field programmable gate array (FPGA).

In various implementations, processor or controller can be associated with one or more storage mediums, such as easily The property lost and non-volatile computer memory, such as RAM, PROM, EPROM and EEPROM.Storage medium can encode one Or multiple programs, described program execute required function when executing in one or more processors and/or controller.It is various Storage medium can be fixed in processor or controller, or can be it is transferable so that be stored thereon one or Multiple programs can be loaded into processor or controller.

Those skilled in the art are practicing claimed by research attached drawing, disclosure and claims It will be appreciated that and realizing other variants of the disclosed embodiments when invention.In the claims, one word of " comprising " is not arranged Except other elements or step, and word "a" or "an" be not excluded for it is multiple.Although certain measures be it is mutually different from It is recorded in category claim, but this does not indicate that the combination that these measures cannot be used to advantage.In claims Any appended drawing reference is not necessarily to be construed as the limitation to range.