CN105790813A - Method for selecting codebooks based on deep learning under large scale MIMO - Google Patents
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Abstract
本发明涉及一种大规模MIMO(Multiple‑Input Multiple‑Output,多输入多输出)下基于深度学习的码本选择方法,属于无线通信技术领域。该方法包括:采集测试区的导频信息构建导频训练序列,进而得到导频训练样本;对导频训练样本进行神经网络迭代学习,得到最终的网络权重值;根据学习后的神经网络输出的信道,从完备码本中选出最优码字。之后将未知区与测试区进行信道信息匹配,得到其无线信道,进而得到与无线信道对应的码字。本发明能有效、准确、快速地建立无线信道模型与码本查询,避免了未知区的信道估计且大大降低了未知区信道选择码本的复杂度。
The invention relates to a codebook selection method based on deep learning under large-scale MIMO (Multiple-Input Multiple-Output, multiple-input multiple-output), and belongs to the technical field of wireless communication. The method includes: collecting pilot information in a test area to construct a pilot training sequence, and then obtaining a pilot training sample; performing neural network iterative learning on the pilot training sample to obtain a final network weight value; Channel, select the optimal codeword from the complete codebook. Then match the channel information between the unknown area and the test area to obtain its wireless channel, and then obtain the codeword corresponding to the wireless channel. The invention can effectively, accurately and quickly establish a wireless channel model and codebook query, avoid channel estimation in unknown areas and greatly reduce the complexity of channel selection codebooks in unknown areas.
Description
技术领域technical field
本发明属于无线通信技术领域,涉及一种大规模MIMO(Multiple-InputMultiple-Output,多输入多输出)下基于深度学习的码本选择方法。The invention belongs to the technical field of wireless communication, and relates to a codebook selection method based on deep learning under massive MIMO (Multiple-Input Multiple-Output, multiple-input multiple-output).
背景技术Background technique
任何一个通信系统,信道是必不可少的组成部分。无线信道为典型的“变参信道”,无线信道的特性与传播环境,如:地形、地物、气候特征、电磁干扰情况、通信体移动速度及使用的频段等密切相关。无线通信系统的通信能力、服务质量(QualityofService,QoS)等都与无线信道性能的好坏密切相关。因此,要想在有限的频谱资源上尽可能高质量、大容量传输有用的信息,必须很好地掌握无线信道的特性,尤其在大数据时代,同时还要尽可能保证获取的无线信道的差错率较小。Any communication system, the channel is an essential component. The wireless channel is a typical "variable parameter channel". The characteristics of the wireless channel are closely related to the propagation environment, such as: terrain, surface features, climate characteristics, electromagnetic interference, communication object moving speed and frequency band used. The communication capability and quality of service (Quality of Service, QoS) of the wireless communication system are closely related to the performance of the wireless channel. Therefore, in order to transmit useful information with high quality and large capacity as possible on limited spectrum resources, it is necessary to have a good grasp of the characteristics of the wireless channel, especially in the era of big data, and at the same time ensure the error of the obtained wireless channel as much as possible The rate is small.
无线信道模型是对无线传播环境及传播特性有了充分了解后,对无线信道的一个抽象描述,能很好地反映无线传播环境的一些重要性质。无线信道模型的建立主要依赖于信道探测。目前,现有的建立无线信道传播模型的方法有:统计性模型、确定性模型和半确定性模型。The wireless channel model is an abstract description of the wireless channel after fully understanding the wireless propagation environment and propagation characteristics, which can well reflect some important properties of the wireless propagation environment. The establishment of wireless channel model mainly depends on channel detection. At present, the existing methods for establishing wireless channel propagation models include: statistical model, deterministic model and semi-deterministic model.
但上述现有建立无线信道传播模型的方法存在一些缺点,如这些方法是依据电磁波传播理论,在一些简化条件下分析得出无线信道模型的建立方法。而实际移动传播环境是千变万化的,很大程度的限制了这些理论结果的应用范围,只能针对某个特定环境、单一链路进行,对高速移动场景下的信道特性、方向性信道特性描述的不够全面准确。另一方面,现有的信道模型的建立方法需要充分挖掘收发端的因果关系。其通过采集收发端的信号,分析接发信号建立收发两端的因果关系。因采集的样本有限,且基于假设条件,使得到的结果会受影响。在小数据时代,计算机能力不足,大部分分析仅限于寻求简单的线性关系。However, the above-mentioned existing methods for establishing wireless channel propagation models have some disadvantages. For example, these methods are based on the theory of electromagnetic wave propagation and are analyzed under some simplified conditions to obtain a method for establishing a wireless channel model. The actual mobile propagation environment is ever-changing, which greatly limits the application range of these theoretical results. It can only be carried out for a specific environment and a single link, and the channel characteristics and directional channel characteristics in high-speed mobile scenarios are described. Not comprehensive enough. On the other hand, the existing channel model building methods need to fully explore the causal relationship between the sending and receiving ends. It collects the signals at the receiving and sending ends, and analyzes the sending and receiving signals to establish the causal relationship between the sending and receiving ends. Due to the limited samples collected and based on assumptions, the results obtained will be affected. In the era of small data and insufficient computer capabilities, most analyzes are limited to seeking simple linear relationships.
大规模MIMO系统中,因天线数目庞大使得信道阵H维数迅速变大,基于非码本的预编码技术不再适用,而基于码本的线性预编码技术成了关注的焦点。目前常用的产生码本的方法有:基于Grassmanniansubspacepacking、DFT等。但前者在一般用穷尽搜索找寻最优码字,如随机搜索,交替预测,劳埃德迭代算法,这些算法的计算负担将随着发射天线数的增多急剧增大。而DFT在预编码矢量之间用系统的方式提供了高弦距离,但平均误码率却极易在发射天线遭受高空间相关性时收到影响。针对以上问题,提出一种低计算量、抗空间相关性的预编码方法已成为迫切需求。In massive MIMO systems, due to the large number of antennas, the H-dimension of the channel array increases rapidly, so the precoding technology based on non-codebook is no longer applicable, and the linear precoding technology based on codebook has become the focus of attention. At present, the commonly used methods for generating codebooks are: based on Grassmannian subspace packing, DFT, etc. However, the former generally uses exhaustive search to find the optimal codeword, such as random search, alternate prediction, and Lloyd's iterative algorithm. The computational burden of these algorithms will increase sharply with the increase in the number of transmitting antennas. While DFT systematically provides high chordal distances between precoding vectors, the average bit error rate is easily affected when transmit antennas suffer from high spatial correlation. In view of the above problems, it has become an urgent need to propose a precoding method with low computational load and anti-spatial correlation.
发明内容Contents of the invention
有鉴于此,本发明的目的在于提供一种大规模MIMO(Multiple-InputMultiple-Output,多输入多输出)下基于深度学习的码本选择方法,该方法能够有效地建立无线信道传播模型及码本查询。In view of this, the object of the present invention is to provide a codebook selection method based on deep learning under a large-scale MIMO (Multiple-InputMultiple-Output, multiple-input multiple-output), the method can effectively establish a wireless channel propagation model and a codebook Inquire.
为达到上述目的,本发明提供如下技术方案:To achieve the above object, the present invention provides the following technical solutions:
一种大规模MIMO下基于深度学习的码本选择方法,该方法包括以下步骤:A codebook selection method based on deep learning under massive MIMO, the method comprising the following steps:
S1:信息采集步骤:由信息采集系统采集测试区内用户端的导频信息;S1: Information collection step: the information collection system collects the pilot information of the user terminal in the test area;
S2:获取训练样本:根据导频信息构建导频训练序列,进而得到导频训练样本;S2: Obtain training samples: construct a pilot training sequence according to the pilot information, and then obtain pilot training samples;
S3:初始化神经网络:初始化神经网络模型参数;S3: Initialize the neural network: initialize the parameters of the neural network model;
S4:神经网络学习:由导频训练样本进行神经网络深度学习,得到最终的网络权重值;S4: Neural network learning: Neural network deep learning is carried out from the pilot training samples to obtain the final network weight value;
S5:构造完备码本:用改进的DFT(DiscreteFourierTransform,离散傅里叶变换)方法构造适合所有信道状态的码本;S5: Construct a complete codebook: use the improved DFT (DiscreteFourierTransform, discrete Fourier transform) method to construct a codebook suitable for all channel states;
S6:码字选择:根据学习后的神经网络输出的信道,从完备码本中进行码字选择;S6: Codeword selection: according to the channel output by the neural network after learning, codeword selection is performed from the complete codebook;
S7:相关关系的建立:构建所述测试区的导频信息与无线信道特性信息间的相关关系;S7: Establishing a correlation relationship: constructing a correlation relationship between the pilot information of the test area and the wireless channel characteristic information;
S8:信道匹配步骤:将未知区的信道与已有的无线信道匹配,进而选出未知区的信道对应的码字。S8: Channel matching step: match the channel in the unknown area with the existing wireless channel, and then select the code word corresponding to the channel in the unknown area.
进一步,在步骤S1中,在进行信息采集时将测试区分为四类:郊区宏小区(suburbanmacro)、市区宏小区(urbanmacro,UM-a)、市区微小区(urbanmicro,UM-i)和高速场景(highrisescenario)。Further, in step S1, the test areas are divided into four types during information collection: suburban macro cells (suburbanmacro), urban macro cells (urbanmacro, UM-a), urban micro cells (urbanmicro, UM-i) and High-speed scene (highrisescenario).
进一步,在步骤S3中,所述初始化神经网络模型参数具体包括:学习率η,偏置值δ,输入层i节点与隐含层j节点的权值系数ωij∈(0,1),隐含层j与输出层节点l的权值系数ωjl∈(0,1),其中i,j,k∈N+且∑|ω|=M(M是常数),最大迭代次数lmax,误差初值e=0,神经元激活函数f(.)采用阈值函数、线性函数或Sigmoid函数。Further, in step S3, the parameters of the initialized neural network model specifically include: learning rate η, bias value δ, weight coefficient ω ij ∈ (0,1) of input layer i node and hidden layer j node, hidden Contains the weight coefficient ω jl ∈(0,1) of layer j and output layer node l, where i,j,k∈N+ and ∑|ω|=M (M is a constant), the maximum number of iterations l max , the initial error Value e=0, neuron activation function f(.) adopts threshold function, linear function or Sigmoid function.
进一步,在步骤S4中,所述神经网络深度学习具体包括:Further, in step S4, the neural network deep learning specifically includes:
S41:导频训练样本P作为神经网络的输入,H=[H0,H1,...,HN]为神经网络的估计目标值,为神经网络的估计输出值;S41: The pilot training sample P is used as the input of the neural network, H=[H 0 ,H 1 ,...,H N ] is the estimated target value of the neural network, is the estimated output value of the neural network;
S42:由模型输出与目标值间的误差、最大迭代次数及权重值约束条件进行参数的深度训练,直到得到满足精度要求;S42: Perform in-depth training of parameters based on the error between the model output and the target value, the maximum number of iterations, and the constraints of weight values until the accuracy requirements are met;
S43:每进行一次,迭代次数加1即l=l+1;当迭代次数l≤lmax或e(l)≤τmax时结束训练,否则返回步骤S42;S43: Every time it is performed, the number of iterations is increased by 1, that is, l=l+1; when the number of iterations l≤l max or e(l)≤τ max , the training ends, otherwise return to step S42;
S44:经步骤S41、S42、S43后获得目标更新的权值系数;学习阶段完成后,神经网络利用测试区的导频P来估计并将储存到基于Spark集群的Shark数据库中,Shark数据库为用户提供信道信息的查询服务。S44: After steps S41, S42, and S43, obtain the weight coefficient of the target update; after the learning phase is completed, the neural network uses the pilot P in the test area to estimate and will Stored in the Shark database based on the Spark cluster, the Shark database provides users with channel information query services.
进一步,在步骤S5中,所述用改进的DFT方法构造适合所有信道状态的码本如下:Further, in step S5, the code book suitable for all channel states constructed by the improved DFT method is as follows:
F=WFDFT F = WF DFT
其中,W(∈Mt×Mt)是酉矩阵,满足U=W∑VH(U∈(Mt×Mt),其元素服从CN(0,1))。Among them, W(∈M t ×M t ) is a unitary matrix, which satisfies U=W∑V H (U∈(M t ×M t ), whose elements obey CN(0,1)).
进一步,在步骤S6中,所述码字选择包括:神经网络学习完成后,神经网络的输出值即为利用导频训练样本估计出的信道;根据选码准则进行码字选择,并把选出的最优码字放在Shark数据库中,为用户提供码字信息的查询服务。Further, in step S6, the code word selection includes: after the neural network learning is completed, the output value of the neural network is the channel estimated by using the pilot training samples; the code word selection is performed according to the code selection criterion, and the selected The optimal codewords are placed in the Shark database to provide users with codeword information query services.
进一步,在步骤S7中,由信道信息,构建测试区的导频信息与无线信道特性信息间的相关关系,具体包括:根据测试区的导频相关性特征,将测试区内的导频分为多个具有代表性的参考导频图案;由测试区的无线信道模型获取该测试区内参考导频图案的信道信息,得到每个参考图案对应的信道特征,并将参考图案对应的信道特征存储在参考信道信息数据库中。Further, in step S7, the channel information is used to construct the correlation between the pilot information of the test area and the wireless channel characteristic information, which specifically includes: according to the pilot correlation characteristics of the test area, the pilots in the test area are divided into A plurality of representative reference pilot patterns; the channel information of the reference pilot patterns in the test area is obtained from the wireless channel model of the test area, and the channel characteristics corresponding to each reference pattern are obtained, and the channel characteristics corresponding to the reference patterns are stored In the reference channel information database.
进一步,在步骤S8中,所述将未知区的信道与已有的无线信道匹配,进而选出未知区的信道对应的码字具体包括:Further, in step S8, the matching of the channel in the unknown area with the existing wireless channel, and then selecting the codeword corresponding to the channel in the unknown area specifically includes:
S81:根据所述未知区域的导频信息与测试区中的参考导频图案进行特征匹配;S81: Perform feature matching according to the pilot information of the unknown area and the reference pilot pattern in the test area;
S82:判断未知区域的导频信息与测试区的参考导频图案特征间的相似度是否小于设定的阈值,若小于则匹配成功;否则,重新选取参考导频图案,直到满足小于设定的阈值;S82: Determine whether the similarity between the pilot information of the unknown area and the reference pilot pattern feature of the test area is less than the set threshold, if less, the matching is successful; otherwise, reselect the reference pilot pattern until it meets the threshold less than the set threshold;
S83:当未知区中的导频信息和测试区中的导频图案特征匹配成功后,将参考信道信息数据库中该图案对应的信道特征确定为未知区的信道特征,将信道特征进行综合,得到该未知区中的无线信道;S83: When the pilot information in the unknown area matches the pilot pattern feature in the test area successfully, determine the channel feature corresponding to the pattern in the reference channel information database as the channel feature in the unknown area, and synthesize the channel features to obtain radio channels in the unknown zone;
S84:根据该无线信道,在储存最优码字信息的Shark数据库中,获取最优码字,并将其反馈给该未知区中的基站(BS)。S84: Obtain the optimal codeword from the Shark database storing the optimal codeword information according to the wireless channel, and feed it back to the base station (BS) in the unknown area.
本发明的有益效果在于:本发明能有效、准确、快速地建立无线信道模型与码本查询,避免了未知区的信道估计且大大降低了未知区信道选择码本的复杂度。The beneficial effect of the present invention is that the present invention can effectively, accurately and quickly establish a wireless channel model and codebook query, avoid channel estimation in unknown areas and greatly reduce the complexity of channel selection codebooks in unknown areas.
附图说明Description of drawings
为了使本发明的目的、技术方案和有益效果更加清楚,本发明提供如下附图进行说明:In order to make the purpose, technical scheme and beneficial effect of the present invention clearer, the present invention provides the following drawings for illustration:
图1为本发明所述方法的流程示意图;Fig. 1 is a schematic flow sheet of the method of the present invention;
图2为测试区的无线信道建立流程图;Fig. 2 is the flow chart of establishing the wireless channel in the test area;
图3为神经网络深度学习的步骤流程图;Fig. 3 is a flow chart of the steps of neural network deep learning;
图4为大规模MIMO下码本预编码方法流程图;FIG. 4 is a flowchart of a codebook precoding method under massive MIMO;
图5为未知区导频信息与无线信道特性信息间的匹配模型流程图。Fig. 5 is a flowchart of a matching model between pilot information and wireless channel characteristic information in an unknown area.
具体实施方式detailed description
下面将结合附图,对本发明的优选实施例进行详细的描述。The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
图1为本发明所述方法的流程示意图,如图所示,本方法具体包括以下步骤:Fig. 1 is a schematic flow chart of the method of the present invention, as shown in the figure, the method specifically includes the following steps:
S1:信息采集步骤:由信息采集系统采集测试区内用户端的导频信息;S1: Information collection step: the information collection system collects the pilot information of the user terminal in the test area;
S2:获取训练样本:根据导频信息构建导频训练序列,进而得到导频训练样本;S2: Obtain training samples: construct a pilot training sequence according to the pilot information, and then obtain pilot training samples;
S3:初始化神经网络:初始化神经网络模型参数;S3: Initialize the neural network: initialize the parameters of the neural network model;
S4:神经网络学习:由导频训练样本进行神经网络深度学习,得到最终的网络权重值;S4: Neural network learning: Neural network deep learning is carried out from the pilot training samples to obtain the final network weight value;
S5:构造完备码本:用改进的DFT(DiscreteFourierTransform,离散傅里叶变换)方法构造适合所有信道状态的码本;S5: Construct a complete codebook: use the improved DFT (DiscreteFourierTransform, discrete Fourier transform) method to construct a codebook suitable for all channel states;
S6:码字选择:根据学习后的神经网络输出的信道,从完备码本中进行码字选择;S6: Codeword selection: according to the channel output by the neural network after learning, codeword selection is performed from the complete codebook;
S7:相关关系的建立:构建所述测试区的导频信息与无线信道特性信息间的相关关系;S7: Establishing a correlation relationship: constructing a correlation relationship between the pilot information of the test area and the wireless channel characteristic information;
S8:信道匹配步骤:将未知区的信道与已有的无线信道匹配,进而选出未知区的信道对应的码字。S8: Channel matching step: match the channel in the unknown area with the existing wireless channel, and then select the code word corresponding to the channel in the unknown area.
图2为测试区的无线信道建立流程图,包括:Figure 2 is a flow chart of wireless channel establishment in the test area, including:
将测试区分为四类:郊区宏小区、市区宏小区、市区微小区、高速场景,以UM-i为例进行信息采集,其余的类同;The test areas are divided into four categories: suburban macro cells, urban macro cells, urban micro cells, and high-speed scenarios. Take UM-i as an example for information collection, and the rest are similar;
将测试区分为四类:郊区宏小区(suburbanmacro)、市区宏小区(urbanmacro,UM-a)、市区微小区(urbanmicro,UM-i)、高速场景(highrisescenario),这里以UM-i为例进行分析,其余的类同;The test area is divided into four categories: suburban macro cell (suburbanmacro), urban macro cell (urbanmacro, UM-a), urban micro cell (urbanmicro, UM-i), high-speed scenario (highrisescenario), here UM-i is used as the Example for analysis, and the rest are similar;
信息采集系统采集测试区内用户端的导频信息;The information collection system collects the pilot information of the user terminal in the test area;
由导频信息构建导频训练序列,进而获得导频训练样本;Construct a pilot training sequence from the pilot information, and then obtain a pilot training sample;
导频训练样本作为神经网络的输入,进行神经网络深度学习,学习结束后得到神经网络输出值,即为估计出的信道。The pilot training sample is used as the input of the neural network for deep learning of the neural network, and the output value of the neural network is obtained after the learning is completed, which is the estimated channel.
图3为神经网络深度学习的步骤流程图,所述神经网络深度学习具体包括:Fig. 3 is the flow chart of the steps of neural network deep learning, and described neural network deep learning specifically includes:
S41:导频训练样本P作为神经网络的输入,H=[H0,H1,...,HN]为神经网络的估计目标值,为神经网络的估计输出值;S41: The pilot training sample P is used as the input of the neural network, H=[H 0 ,H 1 ,...,H N ] is the estimated target value of the neural network, is the estimated output value of the neural network;
S42:由模型输出与目标值间的误差、最大迭代次数及权重值约束条件进行参数的深度训练,直到得到满足精度要求;S42: Carry out in-depth training of parameters based on the error between the model output and the target value, the maximum number of iterations, and the constraints of weight values until the accuracy requirements are met;
S43:每进行一次,迭代次数加1即l=l+1;当迭代次数l≤lmax或e(l)≤τmax时结束训练,否则返回步骤S42;S43: Every time it is performed, the number of iterations is increased by 1, that is, l=l+1; when the number of iterations l≤l max or e(l)≤τ max , the training ends, otherwise return to step S42;
S44:经步骤S41、S42、S43后获得目标更新的权值系数;学习阶段完成后,神经网络利用测试区的导频P来估计并将储存到基于Spark集群的Shark数据库中,Shark数据库为用户提供信道信息的查询服务。S44: After steps S41, S42, and S43, obtain the weight coefficient of the target update; after the learning phase is completed, the neural network uses the pilot P in the test area to estimate and will Stored in the Shark database based on the Spark cluster, the Shark database provides users with channel information query services.
图4为大规模MIMO下码本预编码方法流程图,由改进的DFT方法构造码本,并将码本放在收发两端:Figure 4 is a flow chart of the codebook precoding method under massive MIMO. The codebook is constructed by the improved DFT method, and the codebook is placed at both ends of the transceiver:
F=WFDFT F = WF DFT
其中,W(∈Mt×Mt)是酉矩阵,满足U=WΣVH(U∈(Mt×Mt),其元素服从CN(0,1))。Among them, W(∈M t ×M t ) is a unitary matrix, which satisfies U=WΣV H (U∈(M t ×M t ), whose elements obey CN(0,1)).
用户端将神经网络输出的最优码字在码本中的索引反馈给基站端(BS),并将最优码字的信息存储到Shark数据库中,该Shark数据库为用户提供最优码字的查询服务。The user terminal feeds back the index of the optimal codeword output by the neural network in the codebook to the base station (BS), and stores the information of the optimal codeword in the Shark database, which provides the user with the optimal codeword information. Query service.
图5为未知区导频信息与无线信道特性信息间的匹配模型流程图,在本实施例中,具体流程如下:Fig. 5 is the flow chart of the matching model between the pilot information of the unknown area and the wireless channel characteristic information. In this embodiment, the specific process is as follows:
根据UM-i测试区的导频相关性特征,将测试区内的导频分为多个具有代表性的参考导频图案;According to the pilot correlation characteristics of the UM-i test area, the pilots in the test area are divided into several representative reference pilot patterns;
由UM-i测试区的无线信道获取该测试区内参考导频图案的信道信息,得到每个参考图案对应的信道特征,并将参考图案对应的信道特征存储在参考信道信息数据库中。The channel information of the reference pilot patterns in the test area is obtained from the wireless channel of the UM-i test area, the channel characteristics corresponding to each reference pattern are obtained, and the channel characteristics corresponding to the reference patterns are stored in the reference channel information database.
根据所述未知区的导频信息与UM-i测试区中的参考导频图案进行特征匹配;performing feature matching with reference pilot patterns in the UM-i test zone according to the pilot information in the unknown zone;
判断未知区域的导频信息与测试区的参考导频图案特征间的相似度是否小于设定的阈值,若小于则匹配成功;否则,重新选取参考导频图案,直到满足小于设定的阈值;Judging whether the similarity between the pilot information of the unknown area and the reference pilot pattern feature of the test area is less than the set threshold, if less, the matching is successful; otherwise, reselecting the reference pilot pattern until it meets the threshold less than the set;
当未知区中的导频信息和测试区中的导频图案特征匹配成功后,将参考信道信息数据库中该图案对应的信道特征确定为未知区的信道特征,将信道特征进行综合,得到该未知区中的无线信道;When the pilot information in the unknown area and the pilot pattern feature in the test area are successfully matched, the channel feature corresponding to the pattern in the reference channel information database is determined as the channel feature of the unknown area, and the channel features are synthesized to obtain the unknown wireless channels in the zone;
根据该无线信道,在储存最优码字信息的Shark数据库中,获取最优码字,并将其反馈给该未知区中的BS。According to the wireless channel, in the Shark database storing the optimal code word information, the optimal code word is obtained and fed back to the BS in the unknown area.
最后说明的是,以上优选实施例仅用以说明本发明的技术方案而非限制,尽管通过上述优选实施例已经对本发明进行了详细的描述,但本领域技术人员应当理解,可以在形式上和细节上对其作出各种各样的改变,而不偏离本发明权利要求书所限定的范围。Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that it can be described in terms of form and Various changes may be made in the details without departing from the scope of the invention defined by the claims.
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