ADJUSTABLE LOBE SHAPE FOR ARRAY MICROPHONES

Abstract

Array microphone systems and methods having adjustable lobe shapes are provided. The lobe shapes of pickup patterns in an array microphone may be adjusted by weighting the audio signals of subsets of the microphone elements that make up the array. The lobe shapes may be adjusted in a direction independent of a steering vector of the lobe. Users may have greater control of lobes which can result in more efficient and optimal coverage of audio sources in environments.

Description

TECHNICAL FIELD

This application generally relates to an array microphone having adjustable lobe shapes. In particular, this application relates to an array microphone that allows more control over the shape of lobes in a direction independent of a steering vector of the lobe.

BACKGROUND

Conferencing environments, such as conference rooms, boardrooms, video conferencing applications, and the like, can involve the use of microphones for capturing sound from various audio sources active in such environments. Such audio sources may include humans speaking, for example. The captured sound may be disseminated to a local audience in the environment through amplified speakers (for sound reinforcement), and/or to others remote from the environment (such as via a telecast and/or a webcast). The types of microphones and their placement in a particular environment may depend on the locations of the audio sources, physical space requirements, aesthetics, room layout, and/or other considerations. For example, in some environments, the microphones may be placed on a table or lectern near the audio sources. In other environments, the microphones may be mounted overhead to capture the sound from the entire room, for example. Accordingly, microphones are available in a variety of sizes, form factors, mounting options, and wiring options to suit the needs of particular environments.

Traditional microphones typically have fixed polar patterns and few manually selectable settings. To capture sound in a conferencing environment, many traditional microphones can be used at once to capture the audio sources within the environment. However, traditional microphones tend to capture unwanted audio as well, such as room noise, echoes, and other undesirable audio elements. The capturing of these unwanted noises is exacerbated by the use of many microphones.

Array microphones having multiple microphone elements can provide benefits such as steerable coverage or pick up patterns (having one or more lobes), which allow the microphones to focus on the desired audio sources and reject unwanted sounds such as room noise. The ability to steer audio pick up patterns provides the benefit of being able to be less precise in microphone placement, and in this way, array microphones are more forgiving. Moreover, array microphones provide the ability to pick up multiple audio sources with one array microphone or unit, again due to the ability to steer the pickup patterns.

However, the geometry of lobes of a pickup pattern of an array microphone may not be optimal in certain environments and situations. For example, the dimensions or layout of a room may be such that it cannot be efficiently covered by the lobes, or a default lobe shape may pick up undesirable noise when steered at a desired audio source. Similarly, the default lobe shapes may not cover all desired audio sources if such sources are too dispersed throughout a room. As an example, undesirable or unwanted audio sources may be picked up by the lobes. In another example, two adjacent talkers may be more efficiently picked up by one stretched lobe rather than two default narrow lobes.

Accordingly, there is an opportunity for an array microphone that addresses these concerns. More particularly, there is an opportunity for an array microphone that allows more control of the overall shape of lobes for more efficient and optimal coverage of environments.

SUMMARY

The invention is intended to solve the above-noted problems by providing array microphone systems and methods that are designed to, among other things: (1) enable adjustment of the shape of lobes of an array microphone in a direction independent of a steering vector of a lobe; (2) select subsets of microphone elements of an array microphone to perform the lobe shape adjustment; and (3) determine weights for adjusting the lobe shape of an array microphone.

In one embodiment, an array microphone includes a processor and a plurality of microphone elements each configured to detect sound and output an audio signal. The processor may be in communication with the plurality of microphone elements. The processor may be configured to receive the audio signal from each of the plurality of microphone elements, form one or more lobes based on combining the audio signals, and apply a weight to a magnitude of the audio signal of one or more subsets of the plurality of microphone elements such that a shape of the one or more lobes is adjusted.

In another embodiment, a method is disclosed for selecting one or more subsets of a plurality of microphone elements in an array microphone for adjusting a shape of a lobe of the array microphone using a processor. The method may include receiving a desired steering vector and a desired shape of the lobe of the array microphone at the processor; designating a centerline of the plurality of microphone elements that is transverse to the desired steering vector, based on the desired steering vector, using the processor; selecting the one or more subsets of the plurality of microphone elements based on the respective distances of the subsets to the centerline, using the processor; and determining a weight for the selected subsets of the plurality of microphone elements, using the processor, wherein the weight can be applied to a magnitude of the audio signal of the selected subsets such that a shape of the one or more lobes is adjusted to the desired shape.

These and other embodiments, and various permutations and aspects, will become apparent and be more fully understood from the following detailed description and accompanying drawings, which set forth illustrative embodiments that are indicative of the various ways in which the principles of the invention may be employed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of an array microphone, in accordance with some embodiments.

FIG. 2 is a schematic diagram of an array microphone including microphone elements, in accordance with some embodiments.

FIG. 3 is a flowchart illustrating operations for adjusting lobe shapes of an array microphone, in accordance with some embodiments.

FIG. 4 is a flowchart illustrating operations for selecting a subset of microphone elements in an array microphone for adjusting lobe shapes, in accordance with some embodiments.

FIGS. 5A-5F are graphs showing polar responses for various subsets of microphone elements and magnitude weightings, in accordance with some embodiments.

DETAILED DESCRIPTION

The description that follows describes, illustrates and exemplifies one or more particular embodiments of the invention in accordance with its principles. This description is not provided to limit the invention to the embodiments described herein, but rather to explain and teach the principles of the invention in such a way to enable one of ordinary skill in the art to understand these principles and, with that understanding, be able to apply them to practice not only the embodiments described herein, but also other embodiments that may come to mind in accordance with these principles. The scope of the invention is intended to cover all such embodiments that may fall within the scope of the appended claims, either literally or under the doctrine of equivalents.

It should be noted that in the description and drawings, like or substantially similar elements may be labeled with the same reference numerals. However, sometimes these elements may be labeled with differing numbers, such as, for example, in cases where such labeling facilitates a more clear description. Additionally, the drawings set forth herein are not necessarily drawn to scale, and in some instances proportions may have been exaggerated to more clearly depict certain features. Such labeling and drawing practices do not necessarily implicate an underlying substantive purpose. As stated above, the specification is intended to be taken as a whole and interpreted in accordance with the principles of the invention as taught herein and understood to one of ordinary skill in the art.

The array microphone systems and methods described herein can enable adjustment of the shape of lobes of pickup patterns to provide more efficient and optimal coverage of environments for sound capture. The array microphone may include a plurality of microphone elements, and a processor in communication with the microphone elements. The processor may form one or more lobes by combining audio signals received from the microphone elements, and each lobe may be associated with a steering vector. The processor may adjust the shape of the lobes in a direction independent of the steering vector by applying weights to the magnitudes of the audio signals of subsets of the microphone elements. In this way, users can have greater control over the geometry of lobes of array microphones to, for example, avoid undesired noise and/or to more efficiently cover audio sources within an environment.

FIG. 1 is a block diagram of an array microphone 100 that can detect sounds from an audio source at various frequencies. The array microphone 100 may be utilized in a conference room or boardroom, for example, where the audio source may be one or more human speakers. Other sounds may be present in the environment which may be undesirable, such as noise from ventilation, other persons, audio/visual equipment, electronic devices, etc. In a typical situation, the audio sources may be seated in chairs at a table, although other configurations and placements of the audio sources are contemplated and possible.

The array microphone 100 may be placed on a table, lectern, desktop, etc. so that the sound from the audio sources can be detected and captured, such as speech spoken by human speakers. The array microphone 100 may include any number of microphone elements 102a,b, . . . ,zz, for example, and be able to form multiple pickup patterns so that the sound from the audio sources can be detected and captured. Any appropriate number of microphone elements 102 are possible and contemplated.

Each of the microphone elements 102 in the array microphone 100 may detect sound and convert the sound to an analog audio signal. Components in the array microphone 100, such as analog to digital converters, processors, and/or other components, may process the analog audio signals and ultimately generate one or more digital audio output signals. The digital audio output signals may conform to the Dante standard for transmitting audio over Ethernet, in some embodiments, or may conform to another standard and/or transmission protocol. In embodiments, each of the microphone elements 102 in the array microphone 11 may detect sound and convert the sound to a digital audio signal. One or more pickup patterns may be formed by a processor 150 in the array microphone 100 from the audio signals of the microphone elements 102, and the processor 150 may generate a digital audio output signal 180 corresponding to each of the pickup patterns. The pickup patterns may be composed of one or more lobes, e.g., main, side, and back lobes. In other embodiments, the microphone elements 102 in the array microphone 100 may output analog audio signals so that other components and devices (e.g., processors, mixers, recorders, amplifiers, etc.) external to the array microphone 100 may process the analog audio signals.

The array microphone 100 may include the microphone elements 102; the processor 150 in wired or wireless communication with the microphone elements 102; a database 160 in wired or wireless communication with the processor 150; and a user interface 170 in wired or wireless communication with the processor 150. These components are described in more detail below. The various components included in the array microphone 100 may be implemented using software executable by one or more servers or computers, such as a computing device with a processor and memory, and/or by hardware (e.g., discrete logic circuits, application specific integrated circuits (ASIC), programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

As depicted in the schematic diagram of FIG. 2, the microphone elements 102 (denoted by dots) may be arranged in concentric rings and/or be harmonically nested. The microphone elements 102 may be arranged to be generally symmetric, in some embodiments. In other embodiments, the microphone elements 102 may be arranged asymmetrically or in another arrangement. In further embodiments, the microphone elements 102 may be arranged on a substrate, placed in a frame, or individually suspended, for example. An embodiment of an array microphone 100 is described in commonly assigned U.S. Pat. No. 9,565,493, which is hereby incorporated by reference in its entirety herein. In embodiments, the microphone elements 102 may be unidirectional microphones that are primarily sensitive in one direction. In other embodiments, the microphone elements 102 may have other directionalities or polar patterns, such as cardioid, subcardioid, or omnidirectional, as desired. The microphone elements 102 may be any suitable type of transducer that can detect the sound from an audio source and convert the sound to an electrical audio signal. In an embodiment, the microphone elements 102 may be micro-electrical mechanical system (MEMS) microphones. In other embodiments, the microphone elements 102 may be condenser microphones, balanced armature microphones, electret microphones, dynamic microphones, and/or other types of microphones.

The microphone elements 102 depicted in FIG. 2 may be positioned and configured to cover a specific frequency band within a range of operating frequencies. For example, there may be a plurality of microphone elements 102, as shown in FIG. 2, that are positioned and configured to cover upper frequencies. Other microphone elements (not shown) may be positioned and configured to cover other specific frequency bands. As described in more detail below, the microphone elements 102 may be selectively separated into segments for purposes of lobe shape adjustment, in embodiments. In other embodiments, the microphone elements 102 may be selected on a per microphone element basis for purposes of lobe shape adjustment.

An embodiment of a process 300 for adjusting lobe shapes of the array microphone 100 is shown in FIG. 3. The process 300 may be utilized to output a beamformed output signal 180 from the array microphone 100 shown in FIG. 1 that corresponds to a pickup pattern having an adjusted lobe shape. One or more processors 150 and/or other processing components (e.g., analog to digital converters, encryption chips, etc.) within or external to the microphone may perform any, some, or all of the steps of the process 300. One or more other types of components (e.g., memory, input and/or output devices, transmitters, receivers, buffers, drivers, discrete components, etc.) may also be utilized in conjunction with the processors 150 and/or other processing components to perform any, some, or all of the steps of the process 300.

At step 302, a desired steering vector and desired shape for a lobe may be received at the processor 150. In embodiments, the desired steering vector and desired shape for a lobe may be determined programmatically or algorithmically using automated decision making schemes. In other embodiments, a user may enter the desired steering vector and desired shape at a user interface 170 in communication with the processor 150. The user interface 170 may be a dedicated electronic device (e.g., touchscreen, keypad, etc.) or a standalone electronic device (e.g., smartphone, tablet, computer, etc.), in embodiments. In embodiments, the user interface 170 may display a depiction of the lobe to assist a user in configuring the array microphone 100, such as by showing a lobe emanating from the array microphone 100 at a present steering angle and/or desired steering angle with a present lobe shape and/or desired lobe shape.

The desired steering vector may be determined or entered as a particular three dimensional coordinate relative to the location of the array microphone 100, such as in Cartesian coordinates (i.e., x, y, z), or in spherical coordinates (i.e., radial distance r, polar angle θ (theta), azimuthal angle φ (phi)), for example. The desired lobe shape may be entered or determined in gradations (e.g., narrow, medium, wide, etc.), or as an angle of the field of view (e.g., degrees, change in degrees, percentage change, etc.) in one or more dimensions, for example.

The processor 150 may receive audio signals from the microphone elements 102 at step 304. The microphone elements 102 may be arranged as depicted in FIG. 2, for example, or in another other suitable arrangement. At step 306, one or more lobes of a pickup pattern may be formed by the processor 150 by combining the audio signals received from the microphone elements 102. The lobes may be formed using any suitable beamforming algorithm. The lobes may be formed to correspond to the desired steering angle received at step 302, for example.

The adjustment of the lobe shape may be performed at steps 308 and 310. In particular, at step 308, the processor 150 may determine (1) a subset of microphone elements 102 and (2) weights to be applied to the audio signals from the microphone elements 102, both of which will be used to implement the desired lobe shape adjustment. In some embodiments, the processor 150 may determine the subset of microphone elements 102 and the weights in real-time for a particular lobe shape adjustment, such as by calculating the weights using closed form solutions. One embodiment of a method for the selection of subsets of microphone elements 102 and weights is discussed below with respect to the process 400 shown in FIG. 4. In other embodiments, for a particular lobe shape adjustment, the processor 150 may retrieve from the database 160 a list denoting the subset of microphone elements 102 and the weights to be applied to the audio signals from the microphone elements 102. In this embodiment, the database 160 may include multiple lists and weights for various and lobe shape adjustments. The database 160 may have been pre-loaded with such lists and weights in a lookup table, for example. In further embodiment, the selection of subsets of microphone elements 102 and weights may be based on real-time adaptive beamforming.

In some embodiments, a subset of the microphone elements 102 may be selected on a per microphone element basis. In other embodiments, a subset of the microphone elements 102 may be selected by segmenting them, such as shown in FIG. 2. For example, the microphone elements 102 in the embodiment shown in FIG. 2 can be classified based on a centerline 200 and segments 202, 204, and 206 that are mirrored about the centerline 200. The number and types of segments may vary in other embodiments of arrays of microphone elements 102. As shown in FIG. 2, a first subset of microphone elements 102 may be the microphone elements 102 that are generally arranged along the centerline 200. A second subset of microphone elements 102 may be the microphone elements 102 that are generally within the inner mirrored segments 202 that are adjacent to the centerline 200. A third subset of microphone elements 102 may be the microphone elements 102 that are generally within the middle mirrored segments 204 that are adjacent to the inner mirrored segments 202. A fourth subset of microphone elements 102 may be the microphone elements 102 that are generally within the outer mirrored segments 206 that are adjacent to the middle mirrored segments 204. None, some, or all of the microphone elements 102 in the segments 202, 204, and 206 may be selected for a particular lobe shape adjustment.

The weights may be applied to the magnitude of the audio signals of the subset of microphone elements 102 at step 310, in order to adjust the shape of the lobe to the desired lobe shape. The adjustment of the lobe shape may be in a direction independent of the steering vector. For example, the lobe may be stretched to be wider while the steering vector of the lobe is maintained. In some embodiments, the weights that are applied may be based on a distance of the microphone elements 102 in a selected subset from the centerline 200. In these embodiments, the centerline 200 may be transverse to the steering vector of the lobe. The weighting may be defined as a fractional magnitude scaling that is algorithmically determined based on the vector definition of the direction the lobe is being stretched in, for example. This determination may be Gaussian, linear, or based on any number of functionally derived weighting factors. The beamformed output signal 180 from the microphone array 100 may correspond to a pickup pattern having a lobe with the adjusted shape that has been achieved as a result of the process 300.

FIGS. 5A-5F show polar response graphs for various combinations of subsets of microphone elements 102 and weights that may result from various lobe shape adjustments. In FIGS. 5A-5F, the polar response graphs represent a slice of the polar response that assumes axial symmetry around the 0° axis. In particular, the plane of the microphone array 100 is the plane through 90° and 270°, and 0° is the direction of the array steering. As noted in the legend of the figures, the two lines in each graph show fixed and variable lobe shapes. The fixed axis lines show the behavior of the microphone array 100 when all of microphone elements 102 are being used at full magnitude. In contrast, the variable axis lines show the behavior of the microphone array 100 at the same steering angle with the magnitude weighting applied as denoted.

FIG. 5A shows a lobe and its shape when no weighting is applied to any of the microphone elements 102. The depiction in FIG. 5A can be considered as a baseline lobe that has not yet had any lobe shape adjustments. FIG. 5B shows a lobe with a wider shape than the lobe in FIG. 5A, when the subset of microphone elements 102 in the outer segments 206 have been selected to have a weight of 50% applied to the magnitude of the audio signals of the subset. In this scenario, no weighting is applied to the microphone elements 102 in the centerline 200, inner segments 202, and middle segments 204.

FIG. 5C shows a lobe with a wider shape than the lobe in FIG. 5B, when the subset of microphone elements 102 in the middle segments 204 have been selected to have a weight of 75% applied to the magnitude of the audio signals of the subset, and the subset of microphone elements 102 in the outer segments 206 have been selected to have a weight of 25% applied to the magnitude of the audio signals of the subset. In this scenario, no weighting is applied to the microphone elements 102 in the centerline 200 and the inner segments 202. FIG. 5D shows a lobe with a wider shape than the lobe in FIG. 5C, when the subset of microphone elements 102 in the middle segments 204 have been selected to have a weight of 50% applied to the magnitude of the audio signals of the subset. In this scenario, no weighting is applied to the microphone elements 102 in the centerline 200 and the inner segments 202, and the microphone elements 102 in the outer segments 206 are not active.

FIG. 5E shows a lobe with a wider shape than the lobe in FIG. 5D, when the subset of microphone elements 102 in the middle segments 204 have been selected to have a weight of 25% applied to the magnitude of the audio signals of the subset, and the subset of microphone elements 102 in the inner segments 202 have been selected to have a weight of 75% applied to the magnitude of the audio signals of the subset. In this scenario, no weighting is applied to the microphone elements 102 in the centerline 200 and the inner segments 202. FIG. 5F shows a lobe with a wider shape than the lobe in FIG. 5E, when only the microphone elements 102 in the centerline 200 have been selected and have no weighting applied, and the microphone elements 102 in the inner segments 202, middle segments 204, and outer segments 206 are not active.

In some embodiments, the subset of microphone elements 102 that are selected when adjusting lobe shape may be determined by the process 400 shown in FIG. 4, such as at step 308 of the process 300 shown in FIG. 3. One or more processors 150 and/or other processing components (e.g., analog to digital converters, encryption chips, etc.) within or external to the microphone may perform any, some, or all of the steps of the process 400. One or more other types of components (e.g., memory, input and/or output devices, transmitters, receivers, buffers, drivers, discrete components, etc.) may also be utilized in conjunction with the processors 150 and/or other processing components to perform any, some, or all of the steps of the process 400.

At step 402, the desired steering vector and a desired shape for a lobe may be received at the processor 150. As described above, the desired steering vector and desired shape may be determined programmatically, in some embodiments, or entered at a user interface 170 in communication with the processor 150, in other embodiments. At step 404, the processor 150 may designate a centerline of the microphone elements 102 that is transverse to the desired steering vector. At step 406, one or more subsets of the microphone elements 102 may be selected for purposes of the lobe shape adjustment, where the subsets are selected based on the perpendicular distance of the subsets from the centerline designated at step 404. The subset(s) of the microphone elements 102 may be selected on a per microphone element basis or selected by segmented the microphone elements 102, as described above. In embodiments, the selection of the subsets of microphone elements 102 may be performed using a nearest neighbor search along the centerline. At step 408, the weight for each of the microphone elements 102 in a subset may be determined, based on the distances of the microphone elements 102 from the centerline designated at step 404.

Any process descriptions or blocks in figures should be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the embodiments of the invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those having ordinary skill in the art.

This disclosure is intended to explain how to fashion and use various embodiments in accordance with the technology rather than to limit the true, intended, and fair scope and spirit thereof. The foregoing description is not intended to be exhaustive or to be limited to the precise forms disclosed. Modifications or variations are possible in light of the above teachings. The embodiment(s) were chosen and described to provide the best illustration of the principle of the described technology and its practical application, and to enable one of ordinary skill in the art to utilize the technology in various embodiments and with various modifications as are suited to the particular use contemplated. All such modifications and variations are within the scope of the embodiments as determined by the appended claims, as may be amended during the pendency of this application for patent, and all equivalents thereof, when interpreted in accordance with the breadth to which they are fairly, legally and equitably entitled.

Claims

1. An array microphone, comprising: a plurality of microphone elements, each of the plurality of microphone elements configured to detect sound and output an audio signal;a processor in communication with the plurality of microphone elements, the processor configured to: receive the audio signal from each of the plurality of microphone elements;form one or more lobes based on combining the audio signals; andapply a weight to a magnitude of the audio signal of one or more subsets of the plurality of microphone elements such that a shape of the one or more lobes is adjusted.

2. The array microphone of claim 1, wherein the processor is configured to apply the weight by applying the weight based on a distance of the one or more subsets from a centerline of the plurality of microphone elements, wherein the centerline is transverse to a steering vector associated with the one or more lobes.

3. The array microphone of claim 1, wherein the processor is further configured to automatically determine a steering vector and a desired shape.

4. The array microphone of claim 1, further comprising a user interface in communication with the processor, wherein the processor is further configured to receive a steering vector from the user interface.

5. The array microphone of claim 1: further comprising a user interface in communication with the processor;wherein: the processor is further configured to receive a desired shape of the one or more lobes from the user interface; andthe processor is configured to apply the weight by applying the weight to the magnitude of the audio signal of one or more subsets of the plurality of microphone elements such that the shape of the one or more lobes is adjusted to the desired shape.

6. The array microphone of claim 1: further comprising a database in communication with the processor, wherein the database comprises a plurality of weights corresponding to differing shapes of the one or more lobes;wherein the processor is further configured to retrieve the weight for the shape of the one or more lobes from the database.

7. The array microphone of claim 1, wherein the plurality of microphone elements are arranged in a number of concentric, nested rings of varying sizes, each ring comprising a subset of the plurality of microphone elements positioned at predetermined intervals along a circumference of the ring.

8. The array microphone of claim 7, wherein the concentric, nested rings are rotationally offset from each other.

9. The array microphone of claim 7, wherein the rings are positioned at different radial distances from a central point of the substrate to form a nested configuration.

10. The array microphone of claim 7, wherein each of the rings forms a circle with a different diameter.

11. The array microphone of claim 10, wherein the diameter of each ring is determined based on a lowest operating frequency assigned to the subset of microphone elements included in the ring.

12. The array microphone of claim 7, wherein the rings of microphone elements are configured to cover a preset range of audio frequencies.

13. The array microphone of claim 1, wherein the plurality of microphone elements comprise micro-electrical mechanical system (MEMS) microphones.

14. A method of selecting one or more subsets of a plurality of microphone elements in an array microphone for adjusting a shape of a lobe of the array microphone using a processor, the method comprising: receiving a desired steering vector and a desired shape of the lobe of the array microphone at the processor;designating a centerline of the plurality of microphone elements that is transverse to the desired steering vector, based on the desired steering vector, using the processor;selecting the one or more subsets of the plurality of microphone elements based on the respective distances of the subsets to the centerline, using the processor; anddetermining a weight for the selected subsets of the plurality of microphone elements, using the processor, wherein the weight can be applied to a magnitude of the audio signal of the selected subsets such that a shape of the one or more lobes is adjusted to the desired shape.

15. The method of claim 14, wherein selecting the one or more subsets comprises: designating one or more segments of the plurality of microphone elements as the one or more subsets, using the processor, wherein the one or more segments are mirrored about the centerline; andselecting the one or more subsets of the plurality of microphone elements based on the one or more segments and the respective distances of the subsets to the centerline, using the processor.

16. The method of claim 14, wherein selecting the one or more subsets comprises performing a nearest neighbor search along the centerline to select the one or more subsets of the plurality of microphone elements.

17. The method of claim 14, further comprising: receiving the audio signal from each of the plurality of microphone elements at the processor;forming the lobe based on combining the audio signals, using the processor, the lobe associated with the desired steering vector; andapplying the weight to the magnitude of the audio signal of the selected subsets such that the shape of the lobe is adjusted.