General trackside vital control system and method

Abstract

A general trackside vital control system, comprising: a communication management unit (CMU), which is configured to receive a message sent by an external system and send the message to a vital processor unit (VPU) by means of a redundant network; the vital processor unit (VPU), which is configured to perform vital calculation and verification on the message and, if the message passes verification, send the message to a vital discrete IO unit (VDU) and an object controller unit (OCU); the vital discrete IO unit (VDU), which is configured to perform two-out-of-two vital voting on the message and, if the message passes voting, send the analyzed message to a vital output unit (VOU) and a vital input unit (VIU) by means of internal redundant buses; and the object controller unit (OCU), which is configured to perform two-out-of-two vital voting on the message and, if the message passes voting, send the analyzed message to an electronic execution unit (EEU) by means of the internal redundant buses, wherein each unit is a network node. Therefore, the vital control system involves easy extension and has very high compatibility. Further provided are a general trackside vital control method, and an electronic device and a computer-readable medium.

Description

Universal trackside safety control system and method Technical Field

[0001] The present invention relates to the technical field of rail transit signals, and in particular to a universal trackside safety control system and method. Background Art

[0002] Urban rail transit signaling systems, building on the foundation of traditional CBTC, have seen new developments in recent years. On the one hand, convergence is a general trend. For example, TACS integrates onboard controllers, interlocking, and zone controllers, and fully electronic execution units integrate discrete I / O units and relay interfaces. This makes wayside signaling equipment simpler, but places higher demands on CPU processing power. On the other hand, signaling systems are becoming more diverse, including those for trams, straddled monorails, suspended skyrails, and automated people movers. This shift from "less" to "more," coupled with the need for compatibility with existing wayside signaling equipment, places even higher demands on the scalability and compatibility of a universal wayside safety computer platform.

[0003] Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a universal trackside safety control system and method, each unit contains two daughter boards, and the two daughter boards perform data synchronization and voting through a gigabit network port; each unit is a network node, which is easy to expand and has strong compatibility.

[0005] In a first aspect, an embodiment of the present invention provides a universal trackside safety control system, wherein each unit in the system is a network node, each unit includes two daughter boards, and the system includes: a safety processing unit (VPU), a communication management unit (CMU), a safety discrete IO processing unit (VDU), a safety output unit (VOU), a safety input unit (VIU), an object controller unit (OCU), and an electronic execution unit (EEU);

[0006] The communication management unit CMU is used to receive messages sent by an external system and send the messages to the security processing unit VPU through a redundant network;

[0007] The security processing unit VPU is used to perform security calculation and verification on the message, and if the verification passes, send the message to the security discrete IO processing unit VDU and the target controller unit OCU;

[0008] The secure discrete IO processing unit VDU is configured to perform a 2-out-of-2 security vote on the message, and if the vote passes, send the parsed message to the secure output unit VOU and the secure input unit VIU via an internal redundant bus;

[0009] The target controller unit OCU is configured to perform a 2-out-of-2 safety vote on the message, and if the vote passes, send the parsed message to the electronic execution unit EEU via the internal redundant bus.

[0010] In a second aspect, an embodiment of the present invention provides a universal wayside safety control method, which is applied to the universal wayside safety control system described above. Each unit in the system is a network node, and each unit includes two daughter boards. The system includes: a safety processing unit (VPU), a communication management unit (CMU), a safety discrete IO processing unit (VDU), a safety output unit (VOU), a safety input unit (VIU), an object controller unit (OCU), and an electronic execution unit (EEU). The method includes:

[0011] The communication management unit CMU receives a message sent by an external system and sends the message to the security processing unit VPU through a redundant network;

[0012] The security processing unit VPU performs security calculation and verification on the message, and if the verification passes, sends the message to the security discrete IO processing unit VDU and the target controller unit OCU;

[0013] The secure discrete IO processing unit VDU performs a 2-out-of-2 security vote on the message, and if the vote passes, sends the parsed message to the secure output unit VOU and the secure input unit VIU via an internal redundant bus;

[0014] The target controller unit OCU performs a 2-out-of-2 safety vote on the message, and if the vote passes, sends the parsed message to the electronic execution unit EEU through the internal redundant bus.

[0015] In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the above-mentioned method when executing the computer program.

[0016] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having a non-volatile program code executable by a processor, wherein the program code enables the processor to execute the method as described above.

[0017] The embodiment of the present invention provides a universal trackside safety control system and method. Each unit in the system is a network node. Each unit includes two sub-boards, including: a safety processing unit VPU, a communication management unit CMU, a safety discrete IO processing unit VDU, a safety output unit VOU, a safety input unit VIU, a target controller unit OCU and an electronic execution unit EEU; the communication management unit CMU is used to receive messages sent by an external system and send the messages to the safety processing unit VPU through a redundant network; the safety processing unit VPU is used to perform safety calculations and verification on the messages. If the verification passes, the message is sent to the safety discrete IO processing unit VDU. Discrete IO processing unit VDU and target controller unit OCU; the safety discrete IO processing unit VDU is used to perform a 2-out-of-2 safety vote on the message. If the vote is passed, the parsed message will be sent to the safety output unit VOU and the safety input unit VIU through the internal redundant bus; the target controller unit OCU is used to perform a 2-out-of-2 safety vote on the message. If the vote is passed, the parsed message will be sent to the electronic execution unit EEU through the internal redundant bus; each unit contains 2 daughter boards, and the 2 daughter boards perform data synchronization and voting through the gigabit network port; each unit is a network node, which is easy to expand and has strong compatibility.

[0018] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] FIG1 is a schematic diagram of a universal trackside safety control system provided in a first embodiment of the present invention;

[0022] FIG2 is a schematic diagram of the configuration of a daughter board and different carrier boards provided in the first embodiment of the present invention;

[0023] FIG3 is a flow chart of a general trackside safety control method provided in a second embodiment of the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] To facilitate understanding of this embodiment, the embodiment of the present invention is described in detail below.

[0026] Example 1:

[0027] FIG1 is a schematic diagram of a universal trackside safety control system provided in a first embodiment of the present invention.

[0028] Referring to Figure 1, each unit in the system is a network node, and each unit includes two daughter boards. The system includes: a safety processing unit VPU (Vital Processor Unit), a communication management unit CMU (Communication Management Unit), a safety discrete IO processing unit VDU (Vital Discrete IO Unit), a safety output unit VOU (Vital Output Unit), a safety input unit VIU (Vital Input Unit), an object controller unit OCU (Object Controller Unit) and an electronic execution unit EEU (Electronic Execution Unit); Among them, this system is implemented based on Feiteng FT2000-4 and ReWorks Cert operating system. The Feiteng FT2000-4 industrial version single-core version integrates an FTC663 core with a main frequency of 2.2GHz and a typical power consumption of 6W; ReWorks Cert complies with the functional safety standards IEC 61508 SIL / SC3 (general) and EN 50128 SW The SIL4 (railway transportation) certified real-time operating system uses the Feiteng FT2000-4 as the CPU, the communication management unit CMU, the safety discrete IO processing unit VDU, and the target controller unit OCU, and uses ReWorks Cert as the operating system.

[0029] The communication management unit CMU is used to receive messages sent by external systems and send the messages to the security processing unit VPU through a redundant network;

[0030] The security processing unit VPU is used to perform security calculation and verification on the message. If the verification passes, the message is sent to the security discrete IO processing unit VDU and the target controller unit OCU;

[0031] Specifically, the VPU utilizes a 2-out-of-2 safety architecture, responsible for secure logic operations and internal communication with the VDU, CMU, and OCU via redundant networks. This 2-out-of-2 architecture means the VPU integrates two CPUs, which operate synchronously.

[0032] The communication management unit (CMU) also adopts a 2-out-of-2 security architecture, mainly implementing the message forwarding function between the security platform and external systems to enhance the reliability of security platform communications, reduce the security load, and implement security platform security protocol packaging, parsing, internal and external security communications and other functions.

[0033] The safety discrete IO processing unit VDU is used to perform a 2-out-of-2 safety vote on the message. If the vote passes, the parsed message is sent to the safety output unit VOU and the safety input unit VIU through the internal redundant bus;

[0034] The target controller unit OCU is used to perform a 2-out-of-2 safety vote on the message. If the vote is passed, the parsed message is sent to the electronic execution unit EEU through the internal redundant bus.

[0035] Furthermore, the safety output unit VOU is used to perform a 2-out-of-2 vote on the parsed message. If the vote is passed, the output drive of the point relay is executed according to the data packet in the parsed message, and the feedback information of the output status is sent to the safety discrete IO processing unit VDU through the internal redundant network.

[0036] Specifically, the VOU communicates with the VDU via an internal redundant bus, working together to control outputs. The VOU employs a dual-break safety output method for each output point. Channel 1 and Channel 2 are each controlled by independent FPGAs, periodically monitoring output status and shutting off output if an anomaly is detected.

[0037] Furthermore, the secure input unit VIU is configured to perform a 2-out-of-2 vote on the parsed message. If the vote passes, input collection is performed based on the data packets in the parsed message, and input status check information is sent to the secure discrete IO processing unit VDU.

[0038] Specifically, the safety input unit VIU communicates with the safety discrete IO processing unit VDU through an internal redundant bus, and adopts a dual-channel redundant acquisition method for the acquisition of each point. The two channels collect the status of the same point in a time-sharing manner, and use 32-bit encoding to represent the status of the input point. The 32-bit encoding of different channels and different points is different to ensure the security of the acquisition.

[0039] Further, the security processing unit VPU includes a first sub-board and a second sub-board, wherein the first sub-board and the second sub-board periodically synchronize the security data packets included in the message through the gigabit network port;

[0040] The first sub-board is configured to perform security defense technology processing on the security data packet to obtain a first processed security data packet, and perform verification on the first processed security data packet including a timestamp, a sequence number, a source identifier, and a CRC32 check code to obtain a first verification result;

[0041] The second sub-board is used to perform security defense technology processing on the security data packet to obtain a second processed security data packet, and verify the timestamp, serial number, source identifier and CRC32 check code of the second processed security data packet to obtain a second verification result;

[0042] When the first verification result and the second verification result are inconsistent, both the first sub-board and the second sub-board exit the working mode.

[0043] Furthermore, the system also includes a dynamic safety power supply unit SYSWD (System WatchDog);

[0044] The dynamic safety power supply unit SYSWD is used to provide power for the output of the safety output unit VOU.

[0045] Specifically, the dynamic safety power supply unit SYSWD provides two PWM (Pulse Width Modulation) waves to the dynamic safety power supply unit SYSWD through the safety discrete IO processing unit VDU. The dynamic safety power supply unit SYSWD generates output power to the relay that controls the output power of the safety output unit VOU. If the period and amplitude of any PWM wave change beyond the defined range, the drive voltage cannot be output, thereby cutting off the power supply of the output circuit and directing the output to the safety side.

[0046] Furthermore, the safety output unit VOU is used to generate an abnormality feedback signal when an input / output backcheck abnormality or a fault is detected, and send the abnormality feedback signal to the safety discrete IO processing unit VDU;

[0047] The safety discrete IO processing unit VDU is used to control the dynamic safety power supply unit SYSWD to cut off the output power of the safety output unit VOU.

[0048] Furthermore, the electronic execution unit (EEU) performs a 2-out-of-2 vote on the parsed message. If the vote passes, it turns on / off a signal light or switches a switch based on the data packets in the parsed message. The EEU integrates combined fail-safe, reactive fail-safe, and inherent fail-safe functions into a single board.

[0049] This application is based on the FT2000-4 and ReWorks Cert main control board. Not only are the core components independently controllable and the CPU processing capability strong, but it is also easier to meet the combined fault safety requirements than COTS commercial boards.

[0050] Referring to Figure 2, the security processing unit (VPU), communication management unit (CMU), security discrete IO processing unit (VDU), and target controller unit (OCU) all utilize a daughterboard loading system. The daughterboard includes a minimum system including a CPU, DDR4, FPGA, PHY, and Flash. The CPU and FPGA communication interfaces and GPIO are connected to the carrier board via the PMC connector. While all daughterboards share the same hardware, the carrier board can be configured with different functional modules for different products. This allows for configurations in a 2-out-of-2 mode with two daughterboards or a single daughterboard. The number of communication interfaces, such as network and serial ports, can be tailored to the product. Standardizing hardware design reduces both material and maintenance costs.

[0051] The safety processing unit VPU, communication management unit CMU, safety discrete IO processing unit VDU and target controller unit OCU can all be regarded as network nodes. Adding equipment only requires adding network nodes. It can be compatible with traditional interlocking IO and fully electronic execution units.

[0052] An embodiment of the present invention provides a universal trackside safety control system. Each unit in the system is a network node. Each unit includes two sub-boards, including: a safety processing unit VPU, a communication management unit CMU, a safety discrete IO processing unit VDU, a safety output unit VOU, a safety input unit VIU, an object controller unit OCU, and an electronic execution unit EEU; the communication management unit CMU is used to receive messages sent by an external system and send the messages to the safety processing unit VPU through a redundant network; the safety processing unit VPU is used to perform safety calculations and verification on the messages. If the verification passes, the message is sent to the safety discrete I O processing unit VDU and target controller unit OCU; the safety discrete IO processing unit VDU is used to perform a 2-out-of-2 safety vote on the message. If the vote is passed, the parsed message will be sent to the safety output unit VOU and safety input unit VIU through the internal redundant bus; the target controller unit OCU is used to perform a 2-out-of-2 safety vote on the message. If the vote is passed, the parsed message will be sent to the electronic execution unit EEU through the internal redundant bus; each unit contains 2 daughter boards, and the 2 daughter boards perform data synchronization and voting through the gigabit network port; each unit is a network node, which is easy to expand and has strong compatibility.

[0053] Example 2:

[0054] FIG3 is a flow chart of a general trackside safety control method provided in a second embodiment of the present invention.

[0055] Referring to FIG3 , a safety control system for the universal trackside described above is applied. Each unit in the system is a network node, and each unit includes two daughter boards. The system includes: a safety processing unit (VPU), a communication management unit (CMU), a safety discrete IO processing unit (VDU), a safety output unit (VOU), a safety input unit (VIU), an object controller unit (OCU), and an electronic execution unit (EEU). The two daughter boards synchronize data and perform voting via a gigabit network port. The method includes the following steps:

[0056] Step S101: The communication management unit CMU receives a message sent by an external system and sends the message to the security processing unit VPU via a redundant network.

[0057] Step S102: The security processing unit VPU performs security calculation and verification on the message. If the verification passes, the message is sent to the security discrete IO processing unit VDU and the target controller unit OCU.

[0058] Step S103: The secure discrete IO processing unit VDU performs a 2-out-of-2 security vote on the message. If the vote passes, the parsed message is sent to the secure output unit VOU and the secure input unit VIU via the internal redundant bus.

[0059] In step S104, the target controller unit OCU performs a 2-out-of-2 safety vote on the message. If the vote passes, the parsed message is sent to the electronic execution unit EEU via the internal redundant bus.

[0060] An embodiment of the present invention provides a universal trackside safety control method. Each unit in the system is a network node. Each unit includes two sub-boards, including: a safety processing unit VPU, a communication management unit CMU, a safety discrete IO processing unit VDU, a safety output unit VOU, a safety input unit VIU, an object controller unit OCU, and an electronic execution unit EEU. The communication management unit CMU receives messages sent by an external system and sends the messages to the safety processing unit VPU through a redundant network. The safety processing unit VPU performs safety calculations and verification on the messages. If the verification passes, the message is sent to the safety discrete I O processing unit VDU and target controller unit OCU; the safety discrete IO processing unit VDU will perform a 2-out-of-2 safety vote on the message. If the vote is passed, the parsed message will be sent to the safety output unit VOU and safety input unit VIU through the internal redundant bus; the target controller unit OCU will perform a 2-out-of-2 safety vote on the message. If the vote is passed, the parsed message will be sent to the electronic execution unit EEU through the internal redundant bus; each unit contains 2 daughter boards, and the 2 daughter boards perform data synchronization and voting through the Gigabit network port; each unit is a network node, which is easy to expand and has strong compatibility.

[0061] An embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the general trackside safety control method provided in the above embodiment are implemented.

[0062] An embodiment of the present invention further provides a computer-readable medium having a non-volatile program code executable by a processor, wherein a computer program is stored on the computer-readable medium, and when the computer program is executed by the processor, the steps of the general trackside safety control method of the above embodiment are executed.

[0063] The computer program product provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. For specific implementation, please refer to the method embodiments and will not be repeated here.

[0064] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0065] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0066] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0067] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A universal trackside safety control system, characterized in that: Each unit in the system is a network node, each of the units includes two sub-boards, and the system includes: a security processing unit VPU, a communication management unit CMU, a security discrete IO processing unit VDU, a security output unit VOU, a security input unit VIU, a target controller unit OCU and an electronic execution unit EEU; The communication management unit CMU is used to receive a message sent by an external system and send the message to the security processing unit VPU through a redundant network; The security processing unit VPU is used to perform security calculation and verification on the message, and if the verification passes, send the message to the security discrete IO processing unit VDU and the target controller unit OCU; The safety discrete IO processing unit VDU is used to perform a 2-out-of-2 safety vote on the message, and if the vote is passed, the parsed message is sent to the safety output unit VOU and the safety input unit VIU through an internal redundant bus; The target controller unit OCU is used to perform a 2-out-of-2 safety vote on the message, and if the vote is passed, the parsed message is sent to the electronic execution unit EEU through the internal redundant bus.

2. The universal trackside safety control system according to claim 1, characterized in that: The safety output unit VOU is used to perform a 2-out-of-2 vote on the parsed message. If the vote is passed, the output drive of the point relay is executed according to the data packet in the parsed message, and the feedback information of the output status is sent to the safety discrete IO processing unit VDU through the internal redundant network.

3. The universal trackside safety control system according to claim 1, characterized in that: The safety input unit VIU is used to perform a 2-out-of-2 vote on the parsed message. If the vote is passed, input collection is performed according to the data packets in the parsed message, and input status check information is sent to the safety discrete IO processing unit VDU.

4. The universal trackside safety control system according to claim 1, characterized in that: The security processing unit VPU includes a first sub-board and a second sub-board, wherein the first sub-board and the second sub-board periodically synchronize the security data packet included in the message through a gigabit network port; The first sub-board is used to perform security defense technology processing on the security data packet to obtain a first processed security data packet, and to verify the timestamp, serial number, source identifier and CRC32 check code of the first processed security data packet to obtain a first verification result; The second sub-board is used to perform security defense technology processing on the security data packet to obtain a second processed security data packet, and to verify the timestamp, serial number, source identifier and CRC32 check code of the second processed security data packet to obtain a second verification result; When the first verification result and the second verification result are inconsistent, both the first sub-board and the second sub-board exit the working mode.

5. The universal trackside safety control system according to claim 1, characterized in that: The system also includes a dynamic safety power supply unit SYSWD; The dynamic safety power supply unit SYSWD is used to provide power for the output of the safety output unit VOU.

6. The universal trackside safety control system according to claim 1, characterized in that: The safety output unit VOU is used to generate an abnormal feedback signal when an input / output backcheck abnormality or a fault is detected, and send the abnormal feedback signal to the safety discrete IO processing unit VDU; The safety discrete IO processing unit VDU is used to control the dynamic safety power supply unit SYSWD to cut off the output power of the safety output unit VOU.

7. The universal trackside safety control system according to claim 1, characterized in that: The electronic execution unit EEU is used to perform a 2-out-of-2 vote on the parsed message. If the vote is passed, the signal light is turned on / off or the switch is turned according to the data packet in the parsed message.

8. A universal trackside safety control method, characterized in that: The universal trackside safety control system applied to any one of claims 1 to 7, wherein each unit in the system is a network node, each of the units includes two sub-boards, and the system includes: a safety processing unit VPU, a communication management unit CMU, a safety discrete IO processing unit VDU, a safety output unit VOU, a safety input unit VIU, a target controller unit OCU and an electronic execution unit EEU; the method includes: The communication management unit CMU receives a message sent by an external system, and sends the message to the security processing unit VPU through a redundant network; The security processing unit VPU performs security calculation and verification on the message, and if the verification passes, sends the message to the security discrete IO processing unit VDU and the target controller unit OCU; The safety discrete IO processing unit VDU performs a 2-out-of-2 safety vote on the message, and if the vote passes, sends the parsed message to the safety output unit VOU and the safety input unit VIU through the internal redundant bus; The target controller unit OCU performs a 2-out-of-2 safety vote on the message, and if the vote passes, sends the parsed message to the electronic execution unit EEU through the internal redundant bus.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the method according to claim 8 is implemented.

10. A computer readable medium having a non-volatile program code executable by a processor, characterized in that: The program code causes the processor to execute the method of claim 8.

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