阅读说明：本技术 用于向用户提供触觉反馈的装置和方法 (Apparatus and method for providing haptic feedback to a user ) 是由 N·亚林 于 2019-05-03 设计创作，主要内容包括：公开了用于向用户提供触觉反馈的装置和方法。第一螺线管(101a)被构造和布置成将第一磁性物体(102a)移动到第一螺线管(101a)的第一端(103a),其中当电流被供应通过第一螺线管(101a)时,用户在第一螺线管(101a)的第一端(103a)可以感受到第一磁性物体(102a)。第二螺线管(101b)被构造和布置成将第二磁性物体(102b)移动到第二螺线管(101b)的第一端(103b),其中当电流被供应通过第二螺线管(101b)时,用户在第二螺线管(101b)的第一端(103b)可以感受到第二磁性物体(102b)。第一和第二磁性物体(102a,102b)具有不同的形状,以便向用户提供不同的触觉反馈感。(Apparatus and methods for providing haptic feedback to a user are disclosed. The first solenoid (101a) is constructed and arranged to move a first magnetic article (102a) to a first end (103a) of the first solenoid (101a), wherein the first magnetic article (102a) is perceptible to a user at the first end (103a) of the first solenoid (101a) when current is supplied through the first solenoid (101 a). The second solenoid (101b) is constructed and arranged to move a second magnetic object (102b) to a first end (103b) of the second solenoid (101b), wherein the second magnetic object (102b) is perceptible to a user at the first end (103b) of the second solenoid (101b) when current is supplied through the second solenoid (101 b). The first and second magnetic objects (102a, 102b) have different shapes to provide different tactile feedback sensations to the user.)

1. An apparatus for providing haptic feedback to a user, the apparatus comprising:

a first magnetic object;

a first solenoid constructed and arranged to move the first magnetic object to a first end of the first solenoid, wherein the first magnetic object is perceptible to the user at the first end of the first solenoid when current is supplied through the first solenoid;

a second magnetic object; and

a second solenoid constructed and arranged to move the second magnetic object to a first end of the second solenoid, wherein the second magnetic object is perceptible to the user at the first end of the second solenoid when current is supplied through the second solenoid;

wherein the first and second magnetic objects have different shapes to provide different tactile feedback sensations to the user.

2. The apparatus of claim 1, wherein at least one of the solenoids comprises a sheet covering a first end of the solenoid to contain a corresponding magnetic object within the solenoid as the object moves to the first end of the solenoid.

3. The apparatus of claim 2, wherein each of the solenoids comprises a sheet covering a first end of the solenoid to receive a respective magnetic object within the solenoid.

4. A device according to claim 2 or claim 3, wherein the or each sheet is electrically conductive and is constructed and arranged to contact one or more of the solenoids when pressed by the user to complete an electrical circuit through the one or more of the solenoids to allow electrical current to be supplied through the one or more of the solenoids.

5. The apparatus of any of claims 1 to 4, comprising:

a third magnetic object; and

a third solenoid constructed and arranged to move the third magnetic object to a first end of the third solenoid, wherein the third magnetic object is perceptible to the user at the first end of the third solenoid when current is supplied through the third solenoid;

wherein the third magnetic object has a different shape than each of the first and second magnetic objects, thereby providing a different tactile feedback sensation to the user.

6. The apparatus of any one of claims 1 to 5, wherein at least one of the magnetic objects is spherical in shape.

7. The apparatus of any one of claims 1 to 6, wherein the shape of at least one of the magnetic objects is a convex polyhedron.

8. The apparatus of any one of claims 1 to 7, wherein the shape of at least one of the magnetic objects is a concave polyhedron.

9. The apparatus of any one of claims 1 to 8, wherein one or more of the solenoids are constructed and arranged to move a plurality of magnetic objects of the same shape to a first end of the solenoid.

10. An apparatus comprising a controller for controlling the apparatus and a device according to any of claims 1 to 9, the solenoid of the device being in communication with the controller, the controller being arranged to issue control commands to control the apparatus in accordance with the solenoid or solenoids to which current is supplied in use.

11. A method of providing haptic feedback to a user, the method comprising:

selectively supplying current to one or more of the first and second solenoids;

wherein supplying current to the first solenoid causes the first solenoid to move a first magnetic object to a first end of the first solenoid, wherein the first magnetic object is perceptible to the user at the first end of the first solenoid, the first object having a first shape for providing a first tactile feedback sensation to the user;

wherein supplying current to the second solenoid causes the second solenoid to move a second magnetic object to a first end of the second solenoid, wherein the second magnetic object is perceptible to the user at the first end of the second solenoid, the second object having a second shape different from the first shape for providing a second tactile feedback sensation different from the first tactile sensation to the user.

12. The method of claim 11, comprising selectively supplying current to one or more of the solenoids by selectively pressing a conductive sheet material to contact the one or more of the solenoids to complete a circuit through the one or more of the solenoids, thereby allowing current to be supplied through the one or more of the solenoids.

13. The method of claim 11 or claim 12, wherein at least one of the magnetic objects is spherical in shape.

14. The method of any of claims 11 to 3, wherein the shape of at least one of the magnetic objects is a convex polyhedron.

15. The method of any one of claims 11 to 14, wherein the shape of at least one of the magnetic objects is a concave polyhedron.

Technical Field

The present disclosure relates to an apparatus and method for providing haptic feedback to a user.

Background

Haptic technology (also known as kinesthetic technology) includes hardware and methods to enable the device to provide tactile stimuli to a user. Known devices that generate tactile feedback by generating vibrations that can be felt by the user do so. For example, a vibration actuator such as a Linear Resonant Actuator (LRA), Eccentric Rotating Mass (ERM) or piezoelectric actuator may be provided to generate vibration in response to a control signal. Such known devices suffer from one or more limitations.

Disclosure of Invention

According to a first aspect disclosed herein, there is provided an apparatus for providing haptic feedback to a user, the apparatus comprising: a first magnetic object; a first solenoid constructed and arranged to move the first magnetic object to a first end of the first solenoid, wherein the first magnetic object is perceptible to the user at the first end of the first solenoid when current is supplied through the first solenoid; a second magnetic object; and a second solenoid constructed and arranged to move the second magnetic object to a first end of the second solenoid, wherein the second magnetic object is perceptible to the user at the first end of the second solenoid when current is supplied through the second solenoid; wherein the first and second magnetic objects have different shapes to provide different tactile feedback sensations to the user.

In one example, at least one of the solenoids comprises a sheet covering a first end of the solenoid to contain a corresponding magnetic object within the solenoid as the object moves to the first end of the solenoid.

The sheet material allows a user to feel the magnetic object through the sheet material when the magnetic object moves to the first end of the solenoid and strikes the sheet material.

In one example, each of the solenoids includes a sheet covering a first end of the solenoid to receive a respective magnetic object within the solenoid.

There may be separate sheets per solenoid, or a particular sheet may cover a plurality or even all of the solenoids.

In one example, the or each sheet is electrically conductive and is constructed and arranged to contact one or more of the solenoids when pressed by the user to complete an electrical circuit through the one or more of the solenoids to allow electrical current to be supplied through the one or more of the solenoids.

In one example, the apparatus includes: a third magnetic object; and a third solenoid constructed and arranged to move the third magnetic object to a first end of the third solenoid, wherein the third magnetic object is perceptible to the user at the first end of the third solenoid when current is supplied through the third solenoid; wherein the third magnetic object has a different shape than each of the first and second magnetic objects, thereby providing a different tactile feedback sensation to the user.

In one example, the at least one magnetic object is spherical in shape.

In one example, the shape of the at least one magnetic object is a convex polyhedron.

In one example, the shape of the at least one magnetic object is a concave polyhedron.

In one example, the shape of the at least one magnetic object is a star polygon.

In one example, the shape of the at least one magnetic object is a star-shaped dodecahedron.

In one example, one or more of the solenoids are constructed and arranged to move a plurality of magnetic objects of the same shape to a first end of the solenoid.

There is also provided an apparatus comprising a controller for controlling the apparatus and a device as described above, the solenoid of the device being in communication with the controller and the controller being arranged to issue control commands to control the apparatus in accordance with the solenoid or solenoids to which current is supplied in use.

According to a second aspect disclosed herein, there is provided a method of providing haptic feedback to a user, the method comprising: selectively supplying current to one or more of the first and second solenoids; wherein supplying current to the first solenoid causes the first solenoid to move a first magnetic object to a first end of the first solenoid, wherein the first magnetic object is perceptible to the user at the first end of the first solenoid, the first object having a first shape for providing a first tactile feedback sensation to the user; wherein supplying current to the second solenoid causes the second solenoid to move a second magnetic object to a first end of the second solenoid, wherein the second magnetic object is perceptible to the user at the first end of the second solenoid, the second object having a second shape different from the first shape for providing a second tactile feedback sensation different from the first tactile sensation to the user.

In one example, the method includes selectively supplying current to one or more of the solenoids by selectively pressing a conductive sheet material to contact the one or more of the solenoids to complete a circuit through the one or more of the solenoids, thereby allowing current to be supplied through the one or more of the solenoids.

In one example, the at least one magnetic object is spherical in shape.

In one example, the shape of the at least one magnetic object is a convex polyhedron.

In one example, the shape of the at least one magnetic object is a concave polyhedron.

Drawings

To assist in understanding the disclosure and to show how embodiments may be carried into effect, reference is made, by way of example, to the accompanying drawings, in which:

FIG. 1 schematically shows an example of an apparatus for providing haptic feedback to a user;

FIG. 2 schematically illustrates a portion of another example apparatus including three solenoids; and

fig. 3 schematically illustrates a portion of another example apparatus including a different number of magnetic objects.

Detailed Description

Fig. 1 schematically shows an example of an apparatus 100 for providing haptic feedback to a user. In use, the apparatus 100 may be connected to a controller 200 for controlling the device 300, as described in more detail below.

The apparatus 100 includes a first solenoid 101a containing a first magnetic article 102 a. The first solenoid 101a has a first end 103a and a second end 104 a. The first magnetic object 102a can move freely within the first solenoid 101 a. Similarly, the apparatus 100 includes a second solenoid 101b containing a second magnetic object 102 b. The second solenoid 101b has a first end 103b and a second end 104 a. The second magnetic object 102b is free to move within the second solenoid 101 b.

Each solenoid 101 is constructed and arranged to move a respective magnetic object 102 when the solenoid 101 is activated by supplying an electrical current through the solenoid 101. In the example shown in fig. 1, the first solenoid 101a is activated, and the second solenoid 101b is not activated. Thus, the first object 102a is located at the first end 103a of the first solenoid 101 a. On the other hand, the second magnetic substance 102b is located at the second end 104a of the second solenoid 101 b.

The controller 200 is configured to determine which solenoid or solenoids 101 have been activated and provide corresponding control commands to the device 300. As an illustrative example, the apparatus 300 may be an oven. The controller 300 may, for example, send a "temperature decrease" command to the device 300 in response to activation of the first solenoid 101a and a "temperature increase" command to the device 300 in response to activation of the second solenoid 101 b.

Activation of the solenoid 101 causes the corresponding magnetic object 102 to accelerate towards the first end 103 of the solenoid 101 where it can be felt by the user. The magnetic objects 102 moved and accommodated by each solenoid 101 are arranged to provide a different tactile sensation to the user. For example, the magnetic object 102 may be a different shape. Thus, the user can determine which solenoid 101 has been activated and thus which control command has been sent to the device 300 using only his or her sense of touch. This is particularly advantageous for blind or partially sighted users.

The operation principle is described below, and the operation principle is the same for both the first solenoid 101a and the second solenoid 101b and any other solenoid as described later.

The magnetic object 102 is, for example, ferromagnetic or at least partially formed of a ferromagnetic material. When an electric current is supplied through the solenoid 101, the solenoid 101 generates a magnetic field through its interior, causing the magnetic object 102 to experience a force. Since the magnetic object 102 is free to move within the solenoid 101, the magnetic object 102 may move when acted upon by a force.

In the example shown in the figures, the solenoids 102 are arranged vertically (i.e., their longitudinal axes are arranged vertically). The first end 103 of the solenoid 101 is uppermost. Thus, when no current is supplied through the solenoid 101 (and thus no electromagnetic force is applied to the magnetic object 101), the magnetic object 101 will rest at the second end 104 (bottom) of the solenoid 101 due to gravity. By applying a suitably directed current, a force can be applied to the magnetic object 102 that overcomes the force of gravity, thereby moving the magnetic object 102 to the first end 103 (top) of the solenoid 101.

The scale of the first and second magnetic objects 102a, 102b is not shown in the drawings and may in practice be slightly smaller than suggested in the drawings. There may be a plurality of first magnetic objects 102a housed within the first solenoid 101a and/or a plurality of second magnetic objects 102b housed within the second solenoid 101 b.

The first solenoid 101a and the second solenoid 101b are arranged in parallel with each other. Fig. 1 shows a user's finger 110 located proximal to the first end 103b of the first solenoid 101 a. The second end 104 of the solenoid 101 may be blocked to prevent the magnetic object 102 from exiting the solenoid 101 via the second end 104. For example, each second end 104 may be blocked by a plug or cap or other stopper (not shown).

Each first end 103 may also be blocked to prevent the magnetic object 102 from exiting the solenoid 101. However, any obstacle provided at the first end 103 needs to allow the user to feel the magnetic object 102 when the magnetic object 102 is located at the first end 103. An example of a suitable obstruction is sheet 105 as shown in fig. 1 and described below.

In the example shown in fig. 1, the apparatus 100 includes a first sheet 105a and a second sheet 105 b. The first sheet 105a covers the first end 103a of the first solenoid 101a and the second sheet 105b covers the second end 103b of the second solenoid 101 b. The sheet 105 is arranged to contain a respective magnetic object 102 within each solenoid 101 as the magnetic object 102 moves to the first end 103 of the solenoid 101.

Each sheet 105 is such that when the magnetic object 102 moves to the first end 103 of the solenoid 101, the user can feel the magnetic object 102 through the sheet 105, for example, via a finger 110. Each sheet 105 is sufficiently thin and/or deformable such that when the magnetic object 102 is located at the first end 103 of the solenoid 101, the sheet 105 at least partially conforms to the shape of the magnetic object 102. For example, the sheet 105 may be made of an elastic material. Here, "at least partially" means that the sheet 105 sufficiently conforms to a difference in shape that allows a user to discern the magnetic object 102 through the sheet 105.

In an example, there may be a separate sheet 105 for each solenoid 101, as shown in fig. 1, or a single sheet may cover multiple or even all solenoids 101.

Suitable materials for the base sheet 105 include, for example, plastic.

In some examples, the sheets 105 may perform an additional function of activating the respective solenoids 101 (additional to the function of preventing the magnetic objects 102 from escaping), as described below with respect to fig. 1.

In the example shown in fig. 1, each sheet 105 is configured and arranged to contact the first end 103 of the respective solenoid 101 when pressed by a user. Each sheet 105 is electrically connected to the second end 104 of the solenoid 101 via a DC power supply 106. The sheet 105 is electrically conductive at least on the side facing the solenoid 101. The conductive side allows the user to complete an electrical circuit through the corresponding solenoid 101 by pressing the sheet 105 with the user's finger 110. In one example, the sheet 105 is electrically insulated on the side that is touched by the user. The electrically insulating side prevents a shock from being received when a user presses the sheet 105 to complete an electrical circuit. However, in some cases, the required voltage to operate the solenoid 101 may be low, and thus it may not be necessary to have an electrically insulating side on the sheet 105.

Each solenoid 101 may have its own DC power supply 106, as shown in fig. 1, or the solenoids 101 may share a DC power supply. In any case, pressing down on the sheet 105 causes the sheet 105 to contact the solenoid 101, which completes the circuit 101 through the respective solenoid 101, allowing current to be supplied through that solenoid 101. Each circuit includes one of the solenoids 101 that is electrically coupled to its power source 106 (or a single power source in the case where the solenoids 101 share a power source). As described above, this causes the magnetic object 102 of the solenoid 101 to accelerate towards the first end 103, where it can be felt by the user through the sheet 105.

In some examples, a user may press multiple sheets 105, completing multiple circuits through multiple solenoids 101. In examples including a single sheet 105, the user may still press the sheet 105 at multiple locations to complete multiple circuits through multiple solenoids 101.

The configuration of the solenoid 101, the magnetic object 102 and the sheet 105 is such that a user may feel the magnetic object 102 when it is located at the first end 103 of the solenoid 101. Referring to fig. 1, a user has pressed the first sheet 105a with their finger 110. This causes current to flow through the first solenoid 101 a. The resulting magnetic field within the first solenoid 101a causes the first magnetic article 102a to accelerate toward the first end 101 a. Thus, when the first object 102a strikes the first sheet 105a, the user will feel the impact of the first object 102a on the first sheet 105a via their finger 110. The user may optionally continue to hold the first sheet 105a in contact with the first solenoid 101 a. This results in a continued current flowing through the first solenoid 101a, holding the first magnetic article 102a at the first end 103a of the first solenoid 101a, wherein the user can continue to feel the first magnetic article 102 a. This is advantageous because it allows the user more time to discern the shape (tactile feel) of the magnetic object 102 a. The user may wipe or slide their finger 110 over the surface of the first sheet 105a to help feel the shape of the magnetic object 102.

In other words, the user can use their finger 110 to feel any magnetic object 102 located at the first end 103 of the solenoid 101 as shown in the figure. When the magnetic object 102 is not located at the first end 103 of the solenoid 101 (e.g., when located at the second end 104 of the solenoid), it cannot be felt by the user because it is remotely inaccessible.

The first and second magnetic objects 102a, 102b have different shapes to provide different tactile feedback sensations to the user. That is, the first and second magnetic objects 102a, 102b experience differently when experienced by, for example, the user's finger 110. In the example shown in the figure, the first magnetic body 102a is spherical and the second magnetic body 102b is a star-shaped dodecahedron. The first magnetic object 102 (sphere) produces a smoother tactile feel on the user's finger 110 than the second magnetic object 102b (star-shaped dodecahedron).

Having magnetic objects 102 of different shapes means that a user can determine by touch only which one or more solenoids 101 are activated by which magnetic object(s) 102 can be felt. This means that the user does not need to see the solenoid 101 in order to know which one/ones are active. The magnetic object 102 may be provided in a variety of different shapes. For example, one magnetic object 102 may be "spiked" and/or "angled" while the other magnetic object 102 may be "smooth" to provide a distinct tactile sensation to the user's finger 110.

As mentioned above, activation of each solenoid 101 may cause a different respective control command to be sent to device 300 (described below) to alter the operation of device 300. In this sense, therefore, the solenoid 101 acts as a control button for the device 300. Thus, the user is able to ensure that they activate the correct solenoid 101 to issue the desired control command without having to look at the device 100. This is particularly advantageous for blind or partially sighted users. To this end, the solenoid 101 of the device 100 is operatively coupled to the controller 200. The controller 200 is operatively coupled to the device 300. The controller 200 is arranged to issue control commands to control the apparatus 300 in accordance with the one or more solenoids 101 to which current is supplied in use. The controller 200 may include a processor for performing the functions described herein.

The controller 200 can determine the solenoid or solenoids 101 that are currently active, i.e., the solenoid or solenoids 101 through which current flows, e.g., as a result of a user pressing the sheet 105 of solenoid or solenoids 101 with their finger 110. In the example of fig. 5, the controller 200 is connected to each circuit by a respective sense line, allowing the controller 200 to determine when each solenoid 101 is active. For example, the controller 200 may be configured to measure the voltage on each sense line, a change (e.g., a rise) in voltage indicative of activation of the respective solenoid 101.

The controller 200 may be external to the device 300, as shown in fig. 5, or may be an internal controller 200 of the device 300. Examples of devices 300 that may be controlled using the controller 200 include homes and commercial establishments (also known as "white goods"), media devices, computing devices, and the like. Examples of white goods include cookers (stoves, ovens, etc.), microwave ovens, refrigerators, freezers, water coolers, washing machines, clothes dryers, dishwashers, etc. Other examples of the apparatus 300 include consumer electronics devices or "black goods," such as computers, televisions, and the like.

The device 300 operates according to one or more settings.

In some examples, the settings may be values that may be changed in order to alter the operation of device 300. Examples of such settings are temperature settings of an oven, temperature settings of a washing cycle of a washing machine, etc.

In other examples, one of the settings may be a program consisting of a set of steps performed by device 300. The user is able to select a desired program to be executed by the apparatus 300. Examples of such arrangements include a washing cycle of a washing machine, a defrost cycle of a freezer, etc.

The one or more settings may include both a value and a program.

The controller 200 may be configured to issue control commands to control the apparatus 300 in accordance with the one or more solenoids 101 to which current is supplied in use. That is, each solenoid 101 is associated with a control command for modifying the operation of the apparatus 300. The user may then cause the desired change in operation of the device 300 by activating the relevant solenoid or solenoids 101 by pressing on the sheet 105 of those solenoid or solenoids 101.

As a specific example, the first solenoid 101a may be associated with a decreasing temperature control command and the second solenoid 101b may be associated with an increasing temperature control command. In this way, the user does not need to look at the solenoids 101 in order to increase or decrease the temperature setting of the device 300, as the user can feel with their finger 110 which solenoid 101 is activated.

The shape and hence feel of each magnetic object 102 may be associated with a corresponding control command. For example, a magnetic object 102 located in the solenoid 101 that results in an increased temperature setting may be sharper than a magnetic object 102 located in the solenoid 101 that results in a decreased temperature setting. That is, a "decrease temperature control command" may be indicated, for example, by a smooth-shaped object 102a, and an "increase temperature control command" may be indicated, for example, by a spike or angularly-shaped object 102 b.

Fig. 2 schematically shows an example comprising three solenoids 101a, 101b, 101 c. Each solenoid 101 has a first end 103 and a second end 104 and houses a movable magnetic object 102. The operation of each solenoid arrangement is as described above and is not repeated here.

The first, second, and third magnetic objects 102a, 102b, and 102c all have different shapes. In this example, the first magnetic object 102a is a sphere (an example of a "smooth" shape), the second magnetic object 102b is a cube (an example of an "angled" shape), and the third magnetic object 102c is a star-shaped dodecahedron (an example of a "spiked" shape). The user experiences a different feel for each shape, thereby creating a different tactile feel on the user's finger 110.

As described above, each of the solenoids 101a, 101b, 101c may be associated with a different respective control command. For example, each solenoid 101 may be associated with a control command to enact a different respective program. In a specific example, the apparatus 300 may be a washing machine, and each solenoid 101 is associated with a different respective wash cycle. Then, the user may select a desired washing cycle using only touch.

Fig. 3 schematically shows an example in which a different number of magnetic objects 102 are provided in each solenoid 101. In this example, the first solenoid 101a accommodates a single magnetic body 102a as a sphere, and the second solenoid 101b accommodates six magnetic bodies 102b each of which is a sphere. The spheres of the second solenoids 101b are all the same size and smaller than the spheres of the first solenoids 101 a.

Even if the magnetic objects 102 in both solenoids 101 are the same shape, they provide a different tactile sensation to the user, because the single sphere in the first solenoid 101a is felt differently on the user's finger 110 than the multiple smaller spheres in the second solenoid 101 b. Similar principles apply to shapes other than spheres. The six spheres in the second solenoid 101b are shown as an example only. Different numbers of magnetic objects 102 may be provided. For example, two magnetic objects experience a different sensation than a single magnetic object, and may also experience a different sensation than, for example, ten magnetic objects, even though they are all the same shape.

In the above example, the solenoid 101 is vertical, so that when no current is passed through the solenoid 101, the magnetic object 102 rests at the bottom (second end 104) of the solenoid 101, i.e. current needs to be supplied to the solenoid 101 to move the magnetic object 102 to the top (first end 103). However, the direction of the generated force depends on the direction of the current through the solenoid 101. Thus, in other examples, the device 100 is constructed and arranged to actively hold the magnetic object 102 at the second end 104 of the solenoid 101 by applying a reverse current. This means that the solenoid 101 does not need to be mounted in a vertical position.

It will be appreciated that the processor or processing system or circuitry referred to herein may in practice be provided by a single chip or integrated circuit or multiple chips or integrated circuits, optionally as a chipset, Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA), Digital Signal Processor (DSP), Graphics Processing Unit (GPU), etc. One or more chips may include circuitry (and possibly firmware) to embody at least one or more of one or more data processors, one or more digital signal processors, and baseband circuitry and radio frequency circuitry configurable to operate in accordance with example embodiments. In this regard, the exemplary embodiments can be implemented at least in part by computer software stored in a (non-transitory) memory and executable by a processor, or by hardware, or by a combination of tangibly stored software and hardware (and tangibly stored firmware).

Although at least some aspects of the embodiments described herein with reference to the figures comprise computer processes performed in a processing system or processor, the invention also extends to computer programs, particularly computer programs on or in a carrier, adapted for putting the invention into practice. The program may be in the form of non-transitory source code, object code, code intermediate source and object code such as in partially compiled form, or in any other non-transitory form suitable for use in the implementation of the process according to the invention. The carrier may be any entity or device capable of carrying the program. For example, the carrier may comprise a storage medium, such as a Solid State Drive (SSD) or other semiconductor-based RAM; a ROM such as a CD ROM or a semiconductor ROM; magnetic recording media such as floppy disks or hard disks; a general optical memory device; and so on.

The examples described herein are to be understood as illustrative examples of embodiments of the invention. Further embodiments and examples are contemplated. Any feature described in relation to any one example or embodiment may be used alone or in combination with other features. In addition, any feature described in relation to any one example or embodiment may also be used in combination with one or more features of any other example or embodiment, or any combination of any other example or embodiment. Furthermore, equivalents and modifications not described herein may also be employed within the scope of the invention, which is defined in the claims.