Circuits for switched capacitor receiver front-ends
10148253 ยท 2018-12-04
Assignee
Inventors
Cpc classification
H03J3/08
ELECTRICITY
International classification
H03J3/08
ELECTRICITY
Abstract
Switched capacitor radio frequency receiver front-ends are provided, comprising: a plurality of banks, each comprising: a first switch connected to a RF input signal; a sampling capacitor connected to the first switch and to ground; a second switch connected in parallel to the sampling capacitor; and a Gm cell coupled to the sampling capacitor and an output; wherein: the output of the Gm cell of each of the plurality on banks are coupled together; and the first switch and the second switch are controlled by a multi-phase signal that causes, for each of the plurality of banks, the first switch to be turned ON at a first point in time and the second switch to be turned ON at a second point in time, wherein the first point in time for a first bank is not the same as the first point in time for a second bank.
Claims
1. A circuit for a switched capacitor radio frequency (RF) receiver front-end, comprising: a plurality of banks, each comprising: a first switch having a first side connected to a RF input signal and a second side; a sampling capacitor having a first side connected to the second side of the first switch and a second side connected to ground; a second switch having a first side connected to the first side of the sampling capacitor and a second side connected to the second side of the sampling capacitor; and a Gm cell having a first input coupled to the first side of the sampling capacitor and an output; wherein: the output of the Gm cell of each of the plurality on banks are coupled together; and the first switch and the second switch are controlled by a multi-phase signal that causes, for each of the plurality of banks, the first switch to be turned ON at a first point in time and the second switch to be turned ON at a second point in time, wherein the first point in time for a first of the plurality of banks is not the same as the first point in time for a second of the plurality of banks.
2. The circuit of claim 1, wherein: the first input of the Gm cell is coupled to the first side of the sampling capacitor by a third switch; the third switch is controlled by the multi-phase signal; and the third switch is turned ON at a third point in time.
3. The circuit of claim 1, wherein: the first input of the Gm cell is coupled to the first side of the sampling capacitor by a connection; each of the plurality of banks further comprises a fourth switch at the output of the Gm cell that couples the output of the Gm cell to the output of the Gm cell of other bank(s) of the plurality of banks; the fourth switch is controlled by the multi-phase signal; and the fourth switch is turned ON at a fourth point in time.
4. The circuit of claim 1, wherein: each of the plurality of banks further comprises: a fifth switch having a first side connected to the RF input signal and a second side; and a second capacitor having a first side connected to the second side of the fifth switch and a second side connected to the ground; the fifth switch is controlled by the multi-phase signal; and the fifth switch is turned ON at a fifth point in time.
5. The circuit of claim 1, wherein: each of the plurality of banks further comprises: a sixth switch having a first side connected to the second side of the first switch and a second side; and a third capacitor having a first side connected to the second side of the sixth switch and a second side connected to the ground; the sixth switch is controlled by the multi-phase signal; and the sixth switch is turned ON at a sixth point in time.
6. The circuit of claim 5, wherein: each of the plurality of banks further comprises: a seventh switch having a first side connected to the second side of the first switch and a second side; and a fourth capacitor having a first side connected to the second side of the seventh switch and a second side connected to the ground; the seventh switch is controlled by the multi-phase signal; and the seventh switch is turned ON at a seventh point in time.
7. The circuit of claim 6, wherein: each of the plurality of banks further comprises: an eighth switch having a first side connected to the second side of the first switch and a second side; and a fifth capacitor having a first side connected to the second side of the eighth switch and a second side connected to the ground; the eighth switch is controlled by the multi-phase signal; and the eighth switch is turned ON at an eighth point in time.
8. The circuit of claim 1, further comprising a transimpedance amplifier having an input coupled to the output of the Gm cell.
9. The circuit of claim 1, wherein each of the plurality of banks further comprises sixth capacitor that is in parallel with the sampling capacitor during a sampling phase of the multi-phase signal and in series with the sampling capacitor during at least one other phase of the multi-phase signal.
10. The circuit of claim 1, wherein the sampling capacitor is implemented using a PMOS transistor.
11. The circuit of claim 1, wherein the sampling capacitor is implemented using an NMOS transistor.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
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DETAILED DESCRIPTION
(34) In accordance with some embodiments, switched capacitor (SC) RF receiver front-ends are provided. In some embodiments, high-order filtering is achieved by linear passive SC circuits to attenuate out-of-band (OB) blockers before they reach the nonlinear active baseband amplifier of the receiver front-end. In some embodiments, the SC RF receiver front-end can also perform RF input impedance matching, N-path filtering, high-order discrete-time infinite-impulse response (IIR) filtering, and down conversion. In some embodiments, the front-end can be implemented in 40 nm CMOS, 65 nm CMOS, and/or any other suitable technology.
(35) Turning to
(36) Although eight banks 102 are illustrated herein, any suitable number of banks can be used in some embodiments.
(37) As shown in
(38) As also shown, each of sections 108 and 110 can include capacitors C.sub.s 126, C.sub.h0 128, C.sub.h1 130, C.sub.h2 132, and C.sub.h3 134. These capacitors can be implemented in any suitable manner. For example, in some embodiments, these capacitors can be implements using metal-oxide-metal (MoM) layers.
(39) In some embodiments, capacitor C.sub.s 126 can be variable. This can be implemented in any suitable manner. For example, in some embodiments, capacitor C.sub.s 126 can be implemented using a bank of parallel series-switch-capacitor pairs that can enable capacitors to be switched in and out of the bank as shown in
(40) In some embodiments, the series-switch-capacitor pair formed by switch s.sub.0 112 and capacitor C.sub.h0 128 can be replaced with any suitable number of parallel series-switch-capacitor pairs. In such a scenario, the switches can be controlled by a common signal, or by separate signals.
(41) In accordance with some embodiments, capacitors C.sub.h0i
128 and switches s.sub.0
i
112 in all eight banks (i=1 . . . 8) can be used to form an RF N-path filter (NPF) (where N equals 8 based on the eight banks) to attenuate the OB signals.
(42) In some embodiments, capacitors C.sub.si
126 and switches s.sub.1
i
114 and s.sub.6
i
124 can be used to perform impedance matching. Also, the RF signal can be sampled on C.sub.s
i
, and the continuous-time (CT) signal converted to the discrete-time (DT) domain.
(43) After sampling, history capacitors C.sub.h1i
130, C.sub.h2
i
132, and C.sub.h3
i
134 and switches s.sub.2
i
116, s.sub.3
i
118, and s.sub.4
i
120, as well as capacitors C.sub.s
i
126 and switches s.sub.6
i
124, realize a high-order DT infinite-impulse-response (IIR) filter, and switches s.sub.5
i
122 propagate the signal to the input nodes of Gm cells 104.
(44) The Gm cells receiving inputs from the in-phase (I) paths 108 and quadrature (Q) paths 110 combine the signal from all eight SC banks and achieve harmonic rejecting down-conversion. Also, here the DT signal is converted back to the CT domain.
(45) In some embodiments, switches s.sub.0 112, s.sub.1 114, s.sub.2 116, s.sub.3 118, s.sub.4 120, s.sub.5 122, and s.sub.6 124 can be driven by a multi-phase, non-overlapping clock signal pi
as shown in
(46) As also shown in
(47) Although eight phases p.sub.1, . . . , p.sub.8 are illustrated herein, any suitable number of phases can be used in some embodiments.
(48) The SC front-end achieves different circuit functions in sequential time intervals as shown in
(49) For example, for SC Bank #1, the RF signal is sampled on Cs in phase p.sub.1, propagated to the Gm input node in phase p.sub.5, and dumped to ground in phase p.sub.7. From phases p.sub.2 to p.sub.4, the signal is filtered with increasing order.
(50) For example, for SC Bank #2, the RF signal is sampled on Cs in phase p.sub.2, propagated to the Gm input node in phase p.sub.6, and dumped to ground in phase p.sub.8. From phases p.sub.3 to p.sub.5, the signal is filtered with increasing order.
(51) For example, for SC Bank #3, the RF signal is sampled on Cs in phase p.sub.3, propagated to the Gm input node in phase p.sub.7, and dumped to ground in phase p.sub.1. From phases p.sub.4 to p.sub.6, the signal is filtered with increasing order.
(52) For example, for SC Bank #4, the RF signal is sampled on Cs in phase p.sub.4, propagated to the Gm input node in phase p.sub.8, and dumped to ground in phase p.sub.2. From phases p.sub.5 to p.sub.7, the signal is filtered with increasing order.
(53) For example, for SC Bank #5, the RF signal is sampled on Cs in phase p.sub.5, propagated to the Gm input node in phase p.sub.1, and dumped to ground in phase p.sub.3. From phases p.sub.6 to p.sub.8, the signal is filtered with increasing order.
(54) For example, for SC Bank #6, the RF signal is sampled on Cs in phase p.sub.6, propagated to the Gm input node in phase p.sub.2, and dumped to ground in phase p.sub.4. From phases p.sub.7 to p.sub.1, the signal is filtered with increasing order.
(55) For example, for SC Bank #7, the RF signal is sampled on Cs in phase p.sub.7, propagated to the Gm input node in phase p.sub.3, and dumped to ground in phase p.sub.5. From phases p.sub.8 to p.sub.2, the signal is filtered with increasing order.
(56) For example, for SC Bank #8, the RF signal is sampled on Cs in phase p.sub.8, propagated to the Gm input node in phase p.sub.4, and dumped to ground in phase p.sub.6. From phases p.sub.1 to p.sub.3, the signal is filtered with increasing order.
(57) The blank time intervals (e.g., phases p.sub.6 and p.sub.8 for Bank #1) relax the timing constraints.
(58) i
in the eight banks are turned ON one after another in phases p.sub.1 through p.sub.8, respectively, the input signal is consecutively sampled on the capacitors C.sub.s
i
in the eight banks. Those sampled voltages, V.sub.sp[k] to V.sub.sp[k+7] (k=8.Math.l, l is an integer), can be considered as one time-interleaved signal V.sub.sp[n] with sampling frequency f.sub.s.
(59) As shown in
(60) Turning to i
. Because V.sub.in=Z.sub.in/(Z.sub.in+R.sub.s).Math.V.sub.s, the input impedance can be calculated from V.sub.in and V.sub.s. To analyze V.sub.in, a linear periodically time varying (LPTV) approach can be used since the matching circuit is a CT SC system. In an LPTV system, the frequency domain input voltage V.sub.in(f) is a summation of filtered source voltage V.sub.s(f) with frequency shifts:
V.sub.in(f)=.sub.n=.sup.H.sub.n(f)V.sub.s(fnf.sub.s)(1)
(61) To calculate the input impedance Z.sub.in(f), H.sub.0(f) in (1) is needed. The input impedance can be calculated by Z.sub.in(f)=H.sub.0(f)/(1H.sub.0(f)).Math.R.sub.s. H.sub.0 can be represented by:
(62)
where f.sub.rc=1/(2R.sub.sC.sub.s), and f.sub.s is the sampling frequency. The input admittance (Y.sub.in(f)=1/Z.sub.in(f)) can now be expressed as:
(63)
(64) The admittance is a function of f.sub.rc. To match the DC input admittance to 1/R.sub.s, Y.sub.in(0)=1/R.sub.s. Evaluating (3) at DC and equating it to 1/R.sub.s, the equation for f.sub.rc is
(65)
(66) Solving this transcendental equation, results in f.sub.rc0.25f.sub.s and C.sub.s0.63/f.sub.sR.sub.s, so the C.sub.s needs to be tuned with different LO frequencies. Using (4) and given that exp(2f.sub.rc/f.sub.s) is small, the input admittance can now be simplified to:
(67)
(68) At low frequencies (f<<f.sub.rc), the real part is dominant and equal to 1/R.sub.s. At high frequencies (f>>f.sub.rc), the imaginary part becomes larger, which can be modeled as a capacitor equal to C.sub.s. The input impedance of the SC front-end can thus be modeled as a resistor R.sub.m=R.sub.s in parallel with a capacitor C.sub.m=C.sub.s as shown in
(69) Turning to
(70)
(71) The first part of the right side of equation (6) (that is, the part to the left of the .Math.) is a first-order low-pass filter with a constant of R.sub.sC.sub.s (f.sub.rc=1/(2R.sub.sC.sub.s)) while the second part of the right side of equation (6) (that is, the part to the right of the .Math.) is a FIR filter with a delay of 1/f.sub.s. Considering f.sub.rc0.25f.sub.s, G(f) can be normalized by f.sub.s.
(72)
(73) During operation, the sampler exhibits characteristics of both a voltage sampler and an integration sampler.
(74) In a voltage sampler, a sampling capacitor voltage follows the source voltage when the switch is turned ON, and the high-frequency signals around the sampling frequency (and its harmonics) are folded into the desired signal band. In an integration sampler, when the switch is turned ON, a sampling capacitor voltage is the integral of the source current (I.sub.s=V.sub.s/R.sub.s). The integration sampler has intrinsic anti-aliasing filtering with nulls at n.Math.f.sub.f (where n is a non-zero integer).
(75) A difference between a voltage sampler and an integration sampler is that the integration sampler incorporates a FIR filter (e.g., like the second part of the right side of equation (6) (that is, the part to the right of the .Math.)). This is because, in a voltage sampler, the RC constant is relatively small (R.sub.sC.sub.s<<1/f.sub.s) and thus the FIR part in G(f) can be ignored. In an integration sampler, however, the RC constant is large (R.sub.sC.sub.s>>1/f.sub.s) and thus the FIR filter generates deep nulls at the sampling frequency (and its harmonics) which reduces aliasing.
(76) Because, in some embodiments of the front-end described herein, the RC constant is close to the sampling period, the sampler of the described front-end can exhibit characteristics of both a voltage sampler and an integration sampler. Using f.sub.rc0.25f.sub.s, the bandwidth of the RC-filtering part in G(f) is around 0.25f.sub.s. Also, the FIR filtering part in G(f) provides more attenuation around the sampling frequency and its harmonics, although the attenuation is lower than in a typical integration sampler. The G(f) transfer function in accordance with some embodiments is shown in
(77) In some embodiments, Gm cells 104 (
(78) The DT mixing can be expressed as: I.sub.mix.sub._.sub.{I,Q}[n]=V.sub.gm[n].Math.gm.sub.{I,Q}[mod(n, 8)+1], where mod(.Math.) is the modulus function. By scaling gm[i] as a DT sine wave, a down-converted {I, Q} signal can be obtained at the mixer output. In some embodiments, the gm factors gm[1] to gm[8] in the I path (i.e., the gm corresponding to the I path for each of the i banks) need to be sized as sin((i1).Math.4/), which are 0, 1, {square root over (2)}, 1, 0, 1, {square root over (2)}, 1, 0, while the gm factors gm[1] to gm[8] in the Q path (i.e., the gm corresponding to the Q path for each of the i banks) need to be sized as cos((i1).Math.4/) (as in a harmonic rejecting mixer (HRM)), which are 0, 1, {square root over (2)}, 1, 0, 1, {square root over (2)}, 1, 0. So, only the signal around f.sub.s/8 in the Nyquist bandwidth f.sub.s/2 will be down-converted to baseband. Non-idealities, like gain and phase mismatches, will reduce the harmonic rejection ratio (HRR) as in other HRM.
(79) In some embodiments, besides performing down-conversion, the Gm cells also convert the signal from the DT to the CT domain. The reconstruction can be implemented as a zero-order hold with a hold time of 8T.sub.s (T.sub.s=1/f.sub.s); the output current can be expressed as:
I.sub.out.sub._.sub.{I,Q}(t)=.sub.n=.sup.I.sub.mix.sub._.sub.{I,Q}[n].Math.rect((t4T.sub.snT.sub.s)/8T.sub.s),
where rect(.Math.) is the rectangular function.
(80) Combining anti-aliasing filtering, sampling, DT mixing with harmonic rejection and reconstruction, the conversion gain of the front-end can be represented by:
(81)
where f.sub.in is the input RF frequency around LO frequency of f.sub.s/8, gm is the transconductance of the Gm cell with a size of {square root over (2)}, and R is the feedback resistor in the TIA. The sinc function approximates to 1 for f.sub.in close to f.sub.s/8.
(82) The DT IIR filter includes capacitors C.sub.s, C.sub.h1, C.sub.h2, and C.sub.h3 and switches s.sub.2, s.sub.3, s.sub.4, and s.sub.6 as shown in
V.sub.sp,i[n]=V.sub.h,i[n]=V.sub.h,i[n8]+(1)V.sub.sp,i1[n1],(8)
where =C.sub.hi/(C.sub.hi+C.sub.s), i={1,2,3}, V.sub.h,i is the C.sub.hi voltage, V.sub.sp,i is the C.sub.s voltage after it connects to C.sub.hi. Writing (8) in the z domain with z=exp(j2f/f.sub.s), the C.sub.s voltage can be expressed as
(83)
(84) This shows that each C.sub.hi provides a first-order IIR filtering. If C.sub.hi is not connected, the transfer function (9) is just a delay (z.sup.1). The filter order can thus be tuned by enabling or disabling the clock signal for s.sub.i connected to C.sub.hi. When the clock signal is disabled, its clock driver can be turned off to save power providing a trade-off between filter order and power consumption.
(85) Since V.sub.gm[n]=V.sub.sp,3[n1], the transfer function of the whole IIR filter can be represented by:
(86)
where V.sub.sp=V.sub.sp,0, and n is the number of C.sub.hn being connected, n={0,1,2,3}, which is also the IIR filter order.
(87) In a DT IIR filter, the bandwidth changes with sampling frequency, since it is proportional to f.sub.sC.sub.s/8C.sub.hn. In some embodiments, C.sub.s is tuned to 0.63/f.sub.sR.sub.s to achieve the impedance matching. So, the bandwidth is proportional to 0.63/8(R.sub.sC.sub.hn) and independent of f.sub.s. Thus the filter bandwidth doesn't change when changing LO frequencies (f.sub.lo=f.sub.s/8) and can be tuned by C.sub.hn. In some embodiments, C.sub.hn is fixed.
(88) In the SC front-end, in some embodiments, the added noise is mainly the thermal noise of the switches. i
in the eight SC banks, all the white noise source V.sub.n1
i
can be merged into a single white noise source, V.sub.n1, as shown in
(89) The resetting-switch, s.sub.6, noise is first sampled on C.sub.s. Together, C.sub.s and s.sub.6 are a voltage sampler (R.sub.on,6C.sub.s<<1/f.sub.s) so that the high-frequency noise is folded into the signal band after sampling, resulting in a nearly white noise. The noise spectral density is the total mean-square (MS) noise voltage, kT/C.sub.s, divided by Nyquist bandwidth, f.sub.s/2. Then, this sampled noise voltage is partially dumped by R.sub.s when s.sub.1 is turned ON for a duration of 1/f.sub.s and the noise voltage is reduced by a factor of exp(2f.sub.rf/f.sub.s). After that, the noise voltage is added to the desired signal as shown in
(90)
(91) Since the noise analyses of the switch s.sub.5 and the switches in the IIR filter are related, the same equivalent schematic in
V.sub.1[n]=(1)V.sub.n,sp[n]+V.sub.1[n1],V.sub.2[n]=V.sub.n,sp[n]+V.sub.1[n1](12)
(92) Solving (12), results in:
(93)
(94) H.sub.1 is the s.sub.5 noise transfer function and is an IIR bandpass filter with a 0 dB in-band gain. H.sub.2 is the noise transfer function for the switches in the IIR filter and is a notch filter centered at the desired signal band. An example of the calculated H.sub.1 and H.sub.2, with f.sub.s=4 GHz and C.sub.h=50 pF, are shown in
(95) The s.sub.5 noise is added to the desired signal at the Gm input node, as shown in
(96)
calculated using (13) where .sub.gm=C.sub.h,gm/(C.sub.h,gm+C.sub.s).
(97) The switch noise from the IIR filter is added to the desired signal when being sampled on C.sub.s with the transfer function H.sub.2. The in-band filter noise is first reduced by the IIR notch filtering H.sub.2, then propagated to the output as shown in
(98) Including the Gm cell noise
(99)
(100) Using C.sub.s0.63/f.sub.sR.sub.s and G(f.sub.s/8) from equations (6) and (15) can be simplified as
(101)
(102) Since R.sub.on,1 is relatively small and .sub.gm<1, the front-end noise factor is dominated by fourth term (i.e., the noise from s.sub.5). The NF lower limit is 4.13 dB when R.sub.on,1=0, .sub.gm=1, and gm=+.
(103) In accordance with some embodiments, to improve blocker compression, CMOS switches (
(104) An example of a schematic of an SC RF front-end in accordance with some embodiments is shown in
(105) As shown, the front-end includes SC circuits, baseband Gm cells, TIAs, and a clock generator. In a fully differential architecture, a differential NPF is used at the RF input and the two capacitors Cs with opposite phases can share the same C.sub.h in the ER filter to eliminate the DC and even-order LO harmonic responses. The corresponding two sections in
(106) The Gm cells combine the four-phase output signals from the SC circuits; each two capacitors C.sub.s with opposite phases share a single Gm cell which changes the hold time to 4T.sub.s when converting the DT signal to CT.
(107) In some embodiments, the Gm cells can be realized by CMOS inverters with a tail current operating from a 1.6 V supply. The Gm input-common-mode voltage can be set by V.sub.CM in the reset phase. Common-mode feedback circuits can set the output common-mode voltage to 0.8 V. A 5:7 size ratio can be used to approximate the 1:{square root over (2)} ratio for the harmonic recombination to eliminate the harmonic down-conversion. Dummy Gm cells can be used to balance the load of the previous stage. The transconductance of the size-5 Gm cell can be 40 mS. To reduce the flicker noise, a large transistor can be used with a length equal to 1 m, resulting in 40 pF input-parasitic capacitance. Since the desired signal is already down-converted when it reaches the input of the Gm cell, this parasitic capacitance should not limit the front-end's frequency range.
(108) In some embodiments, each Gm cell can be tuned with a nine-bit control code to calibrate the harmonic rejection ratio (HRR). During the calibration, a harmonic signal can be provided at the RF input and the Gm cells can be externally tuned to minimize the baseband output power.
(109) In some embodiments, the clock divider can generate eight non-overlapping clock signals with a duty cycle and drive the switch drivers. The drivers for the switches in the NPF and IIR filter can be turned ON or OFF to change the filter order. The switch drivers can be DC coupled to the switches. In some embodiments, since the front-end's V.sub.CM is 0.8 V, and the rail-to-rail voltage is 1.2 V, the V.sub.DD and V.sub.SS of the clock generator can be chosen to be 1.4 V and 0.2 V respectively to make sure V.sub.CM=(V.sub.DDV.sub.SS)/2.
(110)
(111) In accordance with some embodiments, a chopping SC receiver front-end with integrated blocker detector is provided. The integrated blocker detector detects the envelope of an unknown OB blocker, so that the filter order can be adapted to the blocker power.
(112) As shown in
(113) Unlike what is shown in
(114) During operation, the choppers to the left of capacitors Cs can up-convert the desired signal with chopping frequency f.sub.chop, and the choppers to the right of the Gms can down-convert the desired signal back to baseband while up-converting the Gm flicker noise to f.sub.chop. The choppers attached to C.sub.h1 and C.sub.h2 ensure the IIR filter transfer function is maintained while chopping.
(115) In some embodiments, when driving the switches by 1/16 duty-cycle 16-phase non-overlapping clocks, the choppers can be merged with the SC circuits as shown in
(116) An example of a more detailed schematic for the implementation in
(117) In some embodiments, the switches can be implemented with CMOS transmission gates, as illustrated in
(118) The Gm cells with output switches act as switched Gm cells and the DC current of the Gm cells can be cut off when the switches are OFF to save power. As example of a Gm cell in accordance with some embodiments is shown in
(119) The on-chip LO divider can be used to generate the 16-phase non-overlapping clock signals.
(120) An example of a blocker envelope detector in accordance with some embodiments is shown in
(121) In accordance with some embodiments, a SC RF front-end can be implemented with capacitor stacking. An example of a schematic of a Bank #1 of such a front-end in accordance with some embodiments is illustrated in
(122)
(123) In some embodiments, NMOS and PMOS transistors can be used as sampling capacitor Cs as shown in
(124) An example of the operation of the front-end illustrated in
(125) In some embodiments, to compensate for non-linear behavior in the transistor capacitors of
(126) The provision of the examples described herein (as well as clauses phrased as such as, e.g., including, and the like) should not be interpreted as limiting the claimed subject matter to the specific examples; rather, the examples are intended to illustrate only some of many possible aspects. It should also be noted that, as used herein, the term mechanism can encompass hardware, software, firmware, or any suitable combination thereof.
(127) Although the invention has been described and illustrated in the foregoing illustrative embodiments, it is understood that the present disclosure has been made only by way of example, and that numerous changes in the details of implementation of the invention can be made without departing from the spirit and scope of the invention, which is limited only by the claims which follow. Features of the disclosed embodiments can be combined and rearranged in various ways.