1. Field of Invention
The current invention relates to low power transmitters and receivers and more particularly, to a low power transmitter/repeater system for use in a vehicle for transmitting portable audio source outputs to the vehicle's radio system that lacks auxiliary input jacks.
2. Description of Related Art
With the rapid growth in hand-held multi-media devices, especially MP3 players, the desire to integrate these devices with existing vehicle systems has also greatly increased. In particular, attempting to couple audio inputs from these audio sources to most conventional vehicle FM stereo equipment is marginal at best. Most vehicle audio equipment do not even have a provision for supporting the direct coupling with such auxiliary audio devices.
One available solution is the cassette adapter (U.S. Pat. No. 4,734,897 (Schotz)) developed by L.S. Research, Inc. (now L.S. Research, LLC, the assignee of the present application). The cassette adapter provides the ability to couple the audio signal from an audio device to the car audio system utilizing the cassette player. (e.g, RCA car cassette adapter, part number rcaah600; Monster iCarPlay™ cassette adapter for iPod® and iPhone™). Although very successful, this product is now reaching its end of life due to the fact that cassette players have now been replaced by CD players in most vehicles built after 2000. The future trend is for car manufacturers to include an audio input jack in the audio system to allow a hard-wired or direct connection of the MP3 player. Consequently, an interim solution is needed for the majority of the vehicles on the road today that have neither a cassette player or an audio input jack. For these vehicles, the only method of coupling is via the FM car radio.
Another solution, available since 2003, is the use of low power FM stereo transmitters to broadcast a signal from an audio device to a standard FM car radio. Companies such as Belkin, Griffin and DLO have developed low power FM stereo transmitters to broadcast a signal from an audio device to a standard FM car radio. (e.g., Belkin F8V7101 TuneCast Auto FM transmitter; Griffin Technology FM transmitter and auto charger 4031-RDGC). This allows the program content of the audio device to be played over the vehicle sound system. Conceptually, this device, when connected to an audio input device such as a MP3 player forms a low power FM radio station. If the user tunes both the FM transmitter and his car radio to a frequency that is unused by commercial broadcast stations, it becomes possible to receive the signal transmitted by the FM transmitter and play the audio over the vehicle sound system.
However, there are limitations to such devices. In order to reduce the potential for interference with commercial FM broadcasts, the FCC restricts the radiated power of all non-commercial FM transmitters to a very low level. (See Appendix for pertinent FCC regulations). A transmitter that is operating at the FCC power limit cannot provide a strong enough signal to the car radio to provide high quality reception. This will always be the primary limitation of all FM transmitters currently on the market. Consequently, it is necessary to locate the FM transmitter very close to the vehicle antenna which is impractical. The FM transmitter needs to be located within arms reach of the vehicles driver's seat to allow the user to control the audio device (e.g., to select songs). Since the majority of cars have their radio antenna located on an outside fender, rooftop or rear window it is not possible to satisfy both requirements and, as a result, the performance will be degraded. In addition, in large metropolitan areas such as New York and Los Angeles, commercial broadcast stations occupy most, if not all, available FM channels. In order to be able to override an existing FM radio station, the FM transmitter needs to provide an even higher signal level to the vehicle antenna. Most of the FM transmitter manufacturers have attempted to resolve these two problems by boosting the power levels of their devices by 10 to 100 times the legal limit. This has been verified by both assignee of the present application, namely, LS Research LLC, and a group affiliated with National Public Radio. The FCC is aware of this and has taken legal action against some of these offenders. Moreover, even with the elevated power levels, the general response from consumers in that the overall performance is still very poor. Reviews (e.g., by Amazon and various FM transmitter web/blog sites) of these types of devices are filled with complaints about their performance.
Thus, there remains a need for a device that allows the use of an FM transmitter that can be placed very close to the vehicle antenna in order to allow maximum signal coupling to the vehicle audio system antenna and provide better overall performance when compared to all other products available on the market. In addition, this device must minimize current consumption and the use of wires. And furthermore, this device must operate within the confines of government regulations, viz., in the U.S., Title 47 CFR Part 15.
All references cited herein are incorporated herein by reference in their entireties.
A wireless FM repeater system for converting an audio signal from a portable audio source (e.g., iPod®, MP3 player, CD player etc.) and transmitting it to a vehicle's FM tuner having an FM tuner antenna where the FM tuner lacks an input jack for coupling to the portable audio source. The system comprises: a transmitter, coupled to the audio source, for using a first frequency carrier signal (e.g., 902-928 MHz, 2.4-2.483 GHz, 434/868 MHz, etc.) comprising the audio signal to transmit a first transmitted signal, and wherein the transmitter comprises a channel select that permits a user to provide the transmitter with an FM frequency channel setting to which the vehicle's FM tuner is tuned; and a self-powered (e.g., battery, solar cell, etc.) repeater that receives the first transmitted signal and downconverts the first transmitted signal, without demodulating said first transmitted signal, to an FM frequency band carrier signal (e.g., 88-108 MHz), and wherein the repeater transmits the FM frequency band carrier signal to form a second transmitted signal, and wherein the second transmitted signal is transmitted from a repeater antenna and is received by the vehicle's FM tuner antenna.
A method for receiving an audio signal from a portable audio source on a vehicle's FM tuner having an FM tuner antenna wherein the FM tuner lacks an input jack for coupling to the portable audio source (e.g., iPod®, MP3 player, CD player etc.), and wherein the method comprises: inputting to a transmitter an FM frequency channel setting that corresponds to a channel to which the vehicle's FM tuner is tuned; generating a first frequency carrier signal (e.g., 902-928 MHz, 2.4-2.483 GHz, 434/868 MHz, etc.) including the audio signal therein, provided from the audio source to the transmitter, and transmitting the first frequency carrier signal to form a first transmitted signal; receiving, by a self-powered (e.g., battery, solar cell, etc.) repeater, the first transmitted signal and downconverting it, without demodulating it, to an FM frequency band carrier signal (e.g., 88-108 MHz); transmitting, from a repeater antenna, the FM frequency band carrier signal to form a second transmitted signal; and receiving the second transmitted signal by the vehicle's FM tuner antenna.
A wireless FM repeater system for converting an audio signal from a portable audio source (e.g., iPod®, MP3 player, cell phone, CD player etc.) and transmitting it to a vehicle's FM tuner having an FM tuner antenna where the FM tuner lacks an input jack for coupling to the portable audio source. The system comprises: a digital transceiver, coupled to the audio source, for digitizing the audio signal and digitally modulating a first frequency carrier signal (e.g., 902-928 MHz, 2.4-2.483 GHz, 434/868 MHz, etc.) with the digitized audio signal to form continuous digital audio that is streamed over a bidirectional link with a self-powered (e.g., battery, solar cell, etc.) repeater, and wherein the transmitter comprises a channel select that permits a user to provide the transceiver with an FM frequency channel setting to which the vehicle's FM tuner is tuned; and wherein the repeater receives the continuous digital audio and decodes the continuous digital audio, wherein the repeater converts the decoded continuous digital audio into analog audio signals, and wherein the repeater comprises an FM frequency band transmitter which modulates an FM frequency band carrier signal (e.g., 88-108 MHz) with the audio signals to form an FM band transmitted signal that transmitted by a repeater antenna and that is received by the vehicle's FM tuner antenna.
A method for receiving an audio signal from a portable audio source (e.g., iPod®, MP3 player, cell phone, CD player etc.) on a vehicle's FM tuner having an FM tuner antenna wherein the FM tuner lacks an input jack for coupling to the portable audio source. The method comprises: inputting to a digital transceiver an FM frequency channel setting that corresponds to a channel to which the vehicle's FM tuner is tuned; digitizing the audio signal, provided from the audio source, to form a digitized audio signal; digitally modulating a first frequency carrier signal (e.g., 902-928 MHz, 2.4-2.483 GHz, 434/868 MHz, etc.) with the digitized audio signal that is continuously streamed over a bi-directional link with a self-powered (e.g., battery, solar cell, etc.) repeater; receiving the continuously streaming digital audio, by the repeater, and decoding the streaming digital audio into decoded continuous digital audio; converting the decoded continuous digital audio into analog audio signals; modulating an FM frequency band carrier signal (e.g., 88-108 MHz) with the analog audio signals to form an FM frequency band signal that is transmitted from a repeater antenna to the FM tuner antenna.
The invention will be described in conjunction with the following drawings in which like reference numerals designate like elements and wherein:
As will be discussed in detail later, the invention of the present application involves the use of a transmitter, coupled to the audio source, that wirelessly transmits the audio source signals at a high frequency (e.g., 902-928 MHz, 2.4-2.483 GHz, 434/868 MHz, etc.) to a repeater located adjacent the vehicle's audio system antenna and wherein the repeater downconverts the high frequency carrier and includes an FM transmitter that wirelessly transmits the audio source signal, in compliance with government regulations, to the vehicle's audio system antenna without signal degradation. The invention accomplishes this without the need to demodulate any signals, without the use of wires (other than to couple the audio source to the invention or enhance repeater-vehicle antenna coupling), while minimizing current consumption (e.g., ≦10 mA of current draw on the external power source) and while complying with government regulations. In particular, where the 902-928 MHz carrier signal is used, the transmitter radiated emissions are limited to 50 mV/m at 3 meters which is −12.5 dBm (or 0.75 mW); see Appendix regarding “§15.249 Operation with the bands 902-928 MHz” et al. With regard to the repeater transmitted output in the FM frequency band, the radiated emissions are limited to 250 μVm at 3 meters which is −47.33 dBm (or 18.5 nW); see Appendix regarding “§15.239 Operation in the band 88-108 MHz.”
The term “wireless” as used throughout the Specification means that the primary signals, namely, a first transmitted signal 26 (from a first transmitter 22 to a repeater 24) and a second transmitted signal 28 (from the repeater 24 to the vehicle's FM tuner antenna) are conveyed over the air. Where the repeater 24 uses an external conductor 24E′ that is directly coupled to the vehicle's FM tuner antenna, to enhance the repeater and vehicle FM tuner antenna coupling, such a configuration still comes within the definition of “wireless” since the repeater 24 can still transmit the second transmitted signal 26 to the FM tuner antenna over the air without the direct coupling. Moreover, the term “wireless” as used throughout this Specification also means that there are no power conductors required for the repeater 24.
As shown in
The following discussion of the transmitter 22 utilizes
Via the audio interface 22A, the audio output signal 4 from any suitable audio device (e.g., MP3 player) is connected to the transmitter 22 via an audio cable with a compatible connector, typically a 3.5 mm headphone plug or other diameter headphone jacks, or even customized connectors (e.g., those made for iPod®/iPhone™ (MFI) connectors (or other connectors) available from Apple. It is within the broadest scope of the present invention to include audio source outputs both in analog or digital format. In order to be compatible with and properly decoded by the vehicle's FM car radio, the right and left channel audio inputs need to be converted to an industry standard stereo multiplex (MPX) signal.
In the multiplex encoder 22B, an FM stereo radio with a transmitter IC such as the TI SN76133 is used to provide the necessary stereo encoding as well as all the required audio processing such as gain adjustment, low pass filtering and pre-emphasis. In addition, the transmitter IC also generates the appropriate FM broadcast signal than can be tuned to any FM channel within the standard FM broadcast band (87.9 MHz to 107.9 MHz in the U.S.). In typical FM transmitter systems, this signal is normally connected to an antenna and broadcast to the car radio. However, in transmitter 22, this signal S1 is fed to the input of the 900 MHz FM transmitter 22C (also referred to as “upconverter”), viz., into a mixer that is configured as a 902-928 MHz upconverter such as the CEL UPC8172TB. This input signal S3, typically between 87.9 and 107.9 MHz is mixed with a fixed frequency local oscillator (LO) to generate an output that falls within the 902 MHz to 928 MHz ISM band. The upconverter 22C generates an output at a frequency which is both the sum and difference between the input frequency and the LO frequency. The LO is generated by a voltage controlled oscillator (VCO) 22E consisting of an RF transistor, resonator and varactor diode. The VCO is tuned and controlled by a Phase Lock Loop (PLL) 22F to form a frequency synthesizer. The LO is set to a fixed frequency, such as 815 MHz, by programming the PLL 22F using appropriate firmware in a microprocessor μP1 in the CPU power management & FM channel select 22F. The oscillator is designed to provide very low phase noise so as not to degrade the system signal-to-noise ratio (S/N) of the audio signal. In this unique upconversion process, frequency modulation occurs at the lower RF frequency (87.9 to 107.9 MHz) and not at the higher LO frequency which would further degrade the S/N ratio. The oscillator output is buffered by a high isolation amplifier (UPC8178TB) to minimize load pulling prior to being coupled into the upconverter 22C. The output of the upconverter 22C is passed through an amplifier buffer to provide the correct output level and then coupled to a 902-928 MHz bandpass (BPF) filter to select the sum frequency and reject both the difference frequency and other undesirable emissions. The BPF consists of a surface acoustic wave (SAW) filter but can also be implemented using discrete inductor-capacitor (LC) components. The filtered output is coupled to a fixed attenuator that provides additional isolation between the upconverter 22C and the antenna 22D. An attenuator is used to adjust the radiated output level to meet the emission requirements of the FCC, typically 1 mW or less. A ¼ wave monopole antenna is constructed from a strand of wire.
This design can be also be configured differently to shift the frequency tuning from the 100 MHz VCO to the 815 MHz VCO. In this approach, the 100 MHz VCO is changed from a tuned frequency to fixed frequency mode and correspondingly the 815 MHz VCO is changed from a fixed frequency to tuned frequency mode. This could be implemented with a simple firmware change. The choice of configurations would be based upon performance and the design complexity of the 815 MHz VCO.
In order for the user to tune the present invention to an “empty” or “clear” station on his vehicle's FM tuner, a user interface is provided with the transmitter 22, and is referred to as the “channel select” 22J. By way of example only, the minimal user interface comprises an LCD (e.g.,
The transmitter 22 obtains its power from an external power source 8, typically 12VDC from the vehicle's battery via the lighter socket. Thus, the CPU power management & FM channel select 22F and power supply & spare battery charger 22H cooperate to manage this power input. In addition, a rechargeable battery pack 22I is installed in the transmitter 22 so as to provide a back-up power supply for the repeater 24 which is battery-powered (see 24J in
In particular, the repeater 24 operates as follows: the 902 MHz to 928 MHz RF carrier radiated by the transmitter 22 is received by the repeater antenna 24A. The ¼ wave monopole antenna 24A is fabricated from a strand of wire. In order to reduce size, the antenna 24A can also be integrated onto a PCB using a planar inverted-F configuration (PIFA); see also 24E′ in
The output of the downconverter 24C is passed to the FM band transmitter 24D which comprises a 100 MHz bandpass filter to select the mixer output difference frequency and reject the sum frequency and other unwanted spurious frequencies such as the LO. The bandpass filter consists of a discrete LC circuit. The output of the BPF is then passed through a fixed attenuator and connected to the 100 MHz antenna 24E. Although the RF output power of the repeater 24 is proportional to the input power of the received signal 26, the output is also limited so as not to exceed the FCC radiated emission limits. The low noise amplifier (see 24B) and upconverter ICs (24C) were specifically chosen with very low output level compression points. The natural limiting effect of the mixer compression (24C), when combined with a fixed attenuator (24D) and antenna 24E with well-controlled gain characteristics assure that a radiated output power at or near the FCC limit is maintained regardless of the location of the transmitter 22 and received signal strength.
The 100 MHz antenna 24E is a unique electrically small, magnetic field, loop antenna. This antenna topology was selected to provide a well-controlled and uniform radiated electromagnetic field. This antenna topology provides consistent gain that allows the maximum radiated power to be realized regardless of device orientation and installation location. This topology also has a very small near field radiation pattern and is not easily detuned by the human body and other structures such as the vehicle. This allows the maximum FCC limit radiated emission level to be realized and maintained. Alternatively, an external antenna 24E′ (
The output S3 (
An indicator 24K (e.g., LED, as shown in
The output level radiated by the repeater antenna 24E is proportional to the input level (i.e., at the receiver antenna 24A) but limited so it does not exceed a predetermined power level, e.g., Part 15.209 General emission limit (43.52 dBuV/m) or a specific Part 15 intentional limit. Hence, the preselector (in the 900 MHz receiver function 24B) is included at the antenna input to limit response to only in-band.
To use the present invention 20, the end user would do the following in accordance with
It should be noted that the reference number 22K (
The link between the transmitter 22 and the repeater 24 is operational within a range of approximately 3 meters.
The digital receiver 324B in the repeater 324 receives and decodes the digital audio transmission and uses a stereo digital-to-analog converter 324C to reproduce the original right and left channel audio signals. It should be noted that in many instances the ADC and DAC are integrated into the digital transceiver chips. A single chip FM transmitter with embedded MPX encoder 324D, such as the TI SN761634, is used to develop the standard stereo FM broadcast signal that is coupled to the car radio via the antenna. This digital audio transceiver version provides a similar solution by utilizing a high frequency wireless link to allow the FM transmitter antenna 322D to be remotely located near the vehicle antenna.
It should be noted that similar to the previous embodiments, the transmitter 322 also comprises a CPU power management & FM channel select 322G, a power supply & spare battery charger 322H, a second rechargeable battery pack 322I (as back-up for use in the repeater 224) and a channel select 322J. And, as with the previous embodiments, the repeater 324 also comprises a CPU power management & FM channel select 324H and an internal power supply 324J (e.g., a rechargeable battery pack). Because of the bidirectional link, where acknowledgements or other communication signals 330 are present, an equivalent function to the RF detector in the previous repeater embodiments is not needed.
An extension of this embodiment 320 and which is within the broadest aspect of the present invention is the use of a cell phone that communicates directly with the repeater 324. In particular, the transmitter 322 is replaced with a cell phone that is modified for communication with the repeater 324. With many Bluetooth® technology providers (e.g., CSR of the United Kingdom) embedding FM stereo transmitters in their next generation Bluetooth® chips for cell phones (many of which already incorporate Bluetooth® functionality for hands-free vehicle operation, as well as integrated MP3 players), it is within the broadest scope of the invention 320 to encompass a modified cell phone for communication directly with the repeater 324. Thus, the term “transmitter” as used with regard to the device that transmits to the repeater 324, is to be construed to include such a modified cell phone.
Where satellite radio is not provided as part of the vehicle's radio system, a user can purchase a satellite radio receiver that includes a transmitter (SR transmitter) for providing a wireless transmission to the vehicle's radio antenna. However, as mentioned previously, many of these SR transmitters are in violation of government regulations on wireless transmission levels, and the performance of these devices are of questionable quality. To comply with the government regulations and provide good quality audio, the baseband of the satellite receiver (SR) output can be diverted from the SR transmitter and coupled to the invention (20-320) of the present application, as indicated by the audio source 2 in the figures.
It should be noted that the key features of the foregoing embodiments of the present invention, or additional modifications that can included therein, are discussed below (the reference number 22 and 24 are by way of example only and are available for any of the previous embodiments discussed above):
Scanning Receiver Option: Many existing FM transmitter products also incorporate a scanning receiver feature. This feature incorporates a FM band receiver which automatically scans the FM band and determines the best clear channel. This feature eliminates the need for the end user to manually tune his car radio to determine the clearest channel. To implement this feature in the transmitter 22, the single chip transmitter IC, such as the TI SN761634 is replaced with a similar chip that also contains an FM receiver, such as the TI SN761631.
Auto Tuning Repeater: One advantage of the present invention is that it is not necessary to tune the repeater 24. By adjusting the output frequency of the transmitter 22, the output frequency of the repeater 24 can be controlled. Although not literally considered an “auto-tuning device” but it essentially functions as one. This is a very useful feature since the repeater 24 would typically be remotely located and out of reach by the driver thereby making it nearly impossible to adjust. It is a commonly known fact that the FM radio reception varies as a vehicle is driven and thus it may be necessary for the end user to select a “new” clear FM channel on an as needed basis. The present invention provides a strong coupling of the signal to the car antenna and thereby reduces the need to search for a new clear channel. And where channel changes are required by the user, the present invention facilitates this by not having to adjust the repeater 24.
Ultra-Low Current Consumption by repeater 24: As mentioned previously, a key feature of the present invention is that the repeater 24 circuit topology does not require a full receiver and transmitter to receive the 900 MHz carrier and convert it to an equivalent 100 MHz signal. This provides a significant reduction in overall current consumption and therefore the only topology that makes battery operation practical. It also provides another advantage in that it uses fairly small AAA or AA size batteries. This allows the repeater 24 form factor to be reduced making it more practical to mount to vehicle windows.
Dual Battery: the repeater batteries eventually become discharged. Using primary (i.e., disposable) batteries becomes costly since this product is typically used for many hours at a time. Rechargeable batteries are the preferred option but will also eventually need to be recharged. It is not convenient for the user to wait several hours to charge the batteries and most would not have a battery charger readily available in their vehicle. However, via the charger 22H there a second battery pack 22I is integrated into the transmitter 22. This allows for one battery pack to always be charged while the other is in use. A second advantage of having a rechargeable battery on board the transmitter 22 is that by adding a second voltage detection circuit, it is possible to allow the transmitter 22 to operate off the second battery 22I when it (i.e., the transmitter 22) is unplugged from the vehicle power source. This feature then transforms the present invention into a portable system that allows audio source to be played in the house with a home stereo system or in outdoor places such as parks, or a backyard, etc., with a boom box, etc.
Innovative FM Band Antenna (Repeater 24): The current embodiment of the repeater 24 uses a small loop antenna 24E that is integrated onto the PCB and fully contained within the repeater enclosure. This design permits the repeater 24 to be easily coupled to vehicle window antennas by placing the module directly on the window. As mentioned previously, the innovative repeater loop antenna provides a more consistent radiated output power when compared to the audio cable type antennas used by many of the competitive FM transmitters. It is also less susceptible to performance loss that can occur due to improper placement and loading by the metallic portions of the vehicle body. This method of coupling is typically described as inductive coupling or a magnetic field antenna (whereas most wire antennas are considered to be electrical field antennas).
As shown in
Although the window antenna is the most common vehicle antenna other antenna variations exist. The most common are the front/rear fender whip antenna and the roof or window frame antenna. Since these two antenna types are located outside the vehicle, proper antenna coupling is more difficult due to the additional distance between the antenna and repeater. Since the degree of coupling between the repeater 24 and the vehicle antenna 10 directly influences overall performance, it is essential to locate the repeater antenna 24E as close to the vehicle antenna 10 as physically possible. The self-contained loop antenna 24E of the repeater 24 provides acceptable performance with external vehicle antennas 10. It is within the broadest scope of this invention to include different versions of the repeater 24 that utilize other antenna types. For example, as shown in
Effective RF Limiter Maintains Field Strength at or below FCC Limit (Repeater 24) Without the Use of Conventional Limiters: a combination of a low noise amplifier/mixer configuration and loop antenna are used to maintain a constant radiated field strength at 100 MHz to assure that the repeater 24 always maintains compliance with the FCC emission limits. The amplifier/mixer circuit (see 24B and 24C in
Low Battery Alert: A low repeater battery audible alert is not unique as it is already implemented in various other products such as smoke detectors. However, as used in the present invention, the audio level of the alert (or beep) is designed to change with the volume level of the music, as indicator to the user of a repeater low battery condition. Due to the fact that the repeater 24 may be installed in a location that is not viewable from the driver's seat (see
Alternative Power Sources: Due to the ultra low power consumption of the repeater 24 design, the repeater electronics can operate using a low cost solar cell as the power source. In practice, a rechargeable battery would be used to provide a power source for the repeater 24 and the solar cell would be used to keep the battery charged or at least prolong the interval between normal charging cycles. The application of a solar powered source is ideally suited for in-vehicle use since repeater is typically mounted in a vehicle window and operated in sunlight.
Home Stereo Systems: Although the present invention is primarily intended for car radio systems, the repeater 24 can also be used to couple the audio input device to various other output devices that contain FM radios such as home stereo systems and boom boxes.
Unique Regulatory Classification: The highly efficient antenna coupler of the downconverter in the repeater 24 and low emission levels may significantly reduce the high costs of regulatory compliance testing if the device can be classified under general emission and not as an intentional transmitter (this classification is still pending).
It should be understood that the present invention 20 is not limited to MP3 players but can be used with any other type of portable hand-held audio device that use WAV, AIFF, AAC, FLAC, Vorbis, etc.
Subsection (d) corrected by erratum (DA 89-728) in Docket No. 87-389, released Jul. 7, 1989, 54 FR 32339.
§15.249 Operation within the Bands 902-928 MHz, 2400-2483.5 MHz, 5725-5875 MHz, and 24.0-24.25 GHz.
Section revised by order (FCC 01-357) in Docket No. 98-156, effective Feb. 13, 2002, 67 FR 1623. For Report see 25 CR 439.
Subsection (e) added by order in Docket No. 87-389, effective Jul. 20, 1990, 55 FR 25094. For Memorandum Opinion see 67 RR 2d 1269.
Historical Note
While the invention has been described in detail and with reference to specific examples thereof, it will be apparent to one skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope thereof.