Abstract:
A radio system including a selected number inputs for substantially simultaneously receiving radio signals in different frequency bands and a selected number of conversion paths for converting the radio signals received at corresponding ones of the inputs into a corresponding number of digital streams. Digital processing circuitry substantially simultaneously processes digital samples for plurality of channels, the samples taken from at least one of the digital streams, wherein a maximum number of channels is greater than a maximum number of digital streams provided by the conversion paths.

Description:
FIELD OF INVENTION 
     The present invention relates in general to wireless communications techniques, and in particular to multiple-channel software defined radios and systems using the same. 
     BACKGROUND OF INVENTION 
     In any transportation industry, reliable communications systems are mandatory for avoiding serious, if not catastrophic, accidents. In the particular case of the railroads, the railroad central offices normally communicate through wired telecommunications links with a network of radio base stations, which are typically dispersed over very large geographical areas. The radio base stations in turn maintain wireless communication links with locomotives, service vehicles, and wayside systems operating within the base station coverage areas. 
     In designing and operating a communications system for a transportation industry, a number of different constraints must be addressed. In the railroad industry, for example, a reliable and efficient communications system must be capable of handling different types of information, including data transmitted from the railroad central office and wayside systems to the locomotive on-board computers, as well as voice transmissions between train crews and the central office. In addition, any wireless communications system must conform with the restrictions imposed on it by the Federal Communications Commission (FCC), for example, those related to frequency band allocation, channel width and spacing, and so on. Finally, any commercially viable communications system should be adaptable to meet new needs and challenges as they arise. 
     SUMMARY OF INVENTION 
     The principles of the present invention are embodied in multiple-channel software defined radios and systems using the same. According to one particular embodiment, a radio system is disclosed that includes a selected number inputs for substantially simultaneously receiving radio signals in different frequency bands and a selected number of conversion paths for converting the radio signals received at corresponding ones of those inputs into a corresponding number of digital streams. Digital processing circuitry substantially simultaneously processes digital samples for plurality of channels, the samples taken from at least one of the digital streams, wherein a maximum number of channels is greater than a maximum number of digital streams provided by the conversion paths. 
     Embodiments of the present principles include digital radios that allow multiple channels of information to be received on one or more radio frequency bands, converted into digital samples, and then simultaneously demodulated. For simultaneous reception of multiple information channels on multiple frequency bands, multiple analog to digital conversion paths are provided for generating multiple streams of digital samples, from which samples for particular channels can be extracted for simultaneous processing and demodulation. In one particular embodiment, the number of information channels that may be simultaneously processed is greater than the number of radio frequency bands on which those information channels are being received. 
     Furthermore, according to the principles of the present invention, certain digital processing operations, normally performed in a digital signal processor or similar subsystem, are off-loaded to circuitry embodied in a field programmable gate array. Advantageously, the task load on the digital signal processor is substantially reduced. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       For a more complete understanding of the present invention, and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which: 
         FIG. 1  is a high level block diagram of a small portion of a representative communications system utilized in the railroad industry and suitable for describing a typical application of the present inventive principles; 
         FIG. 2A  is a block diagram of the primary operational blocks of a representative software defined radio (SDR) embodying the principles of the present invention; 
         FIG. 2B  is a more detailed block diagram of a selected one of the direct data converters (DDC) shown in  FIG. 2A ; and 
         FIG. 2C  is a block diagram of a representative architecture for booting the field programmable gate array (FPGA) and digital signal processor (DSP) shown in  FIG. 2A . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The principles of the present invention and their advantages are best understood by referring to the illustrated embodiment depicted in  FIGS. 1-2  of the drawings, in which like numbers designate like parts. 
       FIG. 1  is high level diagram showing a small portion of a railroad communications system  100  embodying the principles of the present invention. Generally, system  100  supports wireless communications between a central office (network operating center)  101  and locomotives  102  located at various points around a rail system, as well as direct communications between locomotives  102  and the electronic wayside monitoring subsystems, discussed below in detail. 
     In communications system  100 , central office  101  communicates with packet data radios on locomotives  102  through a wired telecommunications network and a series of packet radio base stations dispersed over thousands of square miles of geographical area through which the rail system operates. In the diagram of  FIG. 1 , two radio base stations  103   a  and  103   b  are shown for discussion purposes. 
     Communications system  100  also includes a series of wayside monitoring subsystems, which monitor wayside systems such as signals, switches, and track circuits and communicate the monitored information directly to locomotives  102  within the corresponding wireless coverage area, as well as to central office  101  though base stations  103 .  FIG. 1  shows two representative wayside monitoring subsystems  104   a  and  104   b . As examples of typical uses of wayside monitoring subsystems  104 , wayside monitoring subsystem  104   a  is shown monitoring a switch  105  and a three-lamp signal  106 , and wayside monitoring subsystem  104   b  is shown monitoring a hand-throw switch  109 . Also for illustrative purposes, two parallel sections of track  108   a  and  108   b  and a connecting section  109  are shown in  FIG. 1 , which represent only a very small part of the overall track system. 
     Communications system  100  also includes a hotbox monitoring subsystem  110  which uses rail-side sensors to allow central office  101  to monitor the axle status of passing trains through packet data radios and wireless base stations  103 . In particular, railcar wheels, brakes, and trucks can be monitored for stuck brakes or overheated bearings, such that trains can be slowed or stopped before a catastrophic failure occurs. 
       FIG. 2A  is a block diagram of a multiple-channel software defined radio (SDR) embodying the principles of the present invention. Among other things, SDR  200  realizes the significant advantage of allowing multiple information (voice and data) channels to be simultaneously received on multiple radio frequency (RF) input bands and then simultaneously demodulated using multiple parallel data processing paths. Particularly advantageous is the fact that these data channels can have different frequencies, channel spacing, modulation types, and bit rates. In other words, SDR  200  performs multiple simultaneous receive operations typically requiring a corresponding number of single-channel receivers. Furthermore, SDR  200  also supports simplex data transmission on a selected transmission channel and RF frequency band. 
     SDR  200  is suitable for use in a wide range of radio communications applications requiring the simultaneous or near simultaneous exchange of multiple channels of information in multiple formats, such as digital data and voice. In exemplary system  100  of  FIG. 1 , SDR radio  200  may be used in base stations  103 , locomotives  102 , and wayside monitoring subsystems  104 . 
     In the illustrated embodiment, SDR  200  receives and transmits data on three (3) RF frequency bands. The receive bands include the low receive ( LBRX ) band (approximately 39-50 MHz), the high receive ( HBRX ) band (approximately 151-163 MHz), and the ultra high frequency receive ( UHFRX ) band (approximately 935-940 MHz). The high receive ( HBRX ) band may be partitioned into receive sub-bands, for example, two sub-bands of approximately 151-156 MHz and approximately 156-163 MHz. 
     The transmit bands include the low transmit ( LBTX ) band (approximately 39-50 MHz), the high transmit ( HBTX ) band (approximately 151-163 MHz), and the ultra high frequency transmit ( UHFTX ) band (approximately 896-940 MHz). The high transmit ( HBTX ) band may be partitioned into transmit sub-bands, for example, two sub-bands of approximately 151-156 MHz and approximately 156-162 MHz. The high frequency transmit ( UHFTX ) band may also be partitioned into sub-bands, for example, two sub-bands of approximately 896-901 MHz and approximately 935-940 MHz. 
     In alternate embodiments, the number of RF receive and transmit bands, as well as the corresponding frequencies, may differ depending on the particular design or application. 
     As shown in  FIG. 2A , the receive bands ( LBRX, HBRX, UHFRX ) are each provided with an independent hardware path including an analog bandpass filter (BPF)  201   a - 201   c , an intermediate frequency (IF) amplifier  202   a - 202   c , and an analog to digital converter (ADC)  203   a - 203   c . In the illustrated embodiment, BPFs  201   a - 201   c  have a passband of approximately 39-90 MHz, IF amplifiers  202   a - 202   c  provide approximately 21 dB of gain with bypass, and ADCs  203   a - 203   c  operate at a sampling rate of 57.6 Msps and have an output resolution of fourteen (14) bits. (Front end modules [not shown] perform low-noise amplification and down-convert signals received on the  HBRX  and the  UHFRX  bands into the 39-90 MHz IF bands at the inputs to BPFs  201   b  and  201   c ). Filters  201   a - 201   c  reduce spurious noise generated elsewhere in the system and suppress energy that would otherwise be sampled outside the first two (2) Nyquist zones. IF amplifiers  202   a - 202   c  improve the noise figure at the inputs to ADCs  203   a - 203   c . The particular receive hardware parameters may change based on the specific design and application of SDR  200 . 
     The RF transmit path includes a direct data synthesizer (DDS)  205 , which performs digital sinusoidal carrier frequency generation and digital to analog conversion, and an analog lowpass filter (LPF)  206 . In the illustrated embodiment, LPF  206  has a corner frequency of approximately 90 MHz and passes signals in the 39-90 MHz IF band to an RF switch matrix  207 . RF switch matrix  207  switches the IF signals to corresponding transmit modules (not shown), which generate the ultimate RF signals within the appropriate RF transmit band ( LBTX, HBTX, UHFTX ). 
     According to the principles of the present invention, SDR  200  is based upon a field programmable gate array (FPGA)  208 , which may be, for example, an Altera EP2C35 FPGA. Generally, FPGA  208  and accompanying firmware act as a multi-channel receiver tuner and transmit modulator interpolator. FPGA  208  implements, for example, signal routing, channel turning, frequency down conversion, gain control, and CORDIC rotation (Cartesian to polar conversion) independently and simultaneously on multiple input channels. 
     As shown in  FIG. 2A , FPGA  208  implements a cross-bar switch  209 , which routes up to four (4) input channels provided by the three (3) receive paths. The four (4) channels of data are processed by four (4) corresponding direct data converters (DDCs)  210   a - 210   d , which will be discussed in detail in further conjunction with  FIG. 2B . Any or all of the four (4) DDCs  210   a - 210   b  can be routed to any one of the three (3) sampled RF receive bands ( LBRX, HBRX, UHFRX ). The simultaneous processed channels can be made up of data channels, voice channels, or a combination of voice and data. Additionally, each channel can be set for different channel frequency and spacing, modulation type, and bit rate, for example, 9600 bps GMSK data in a 12.5 kHz channel, voice in a 25 kHz channel, 19200 bps GMSK data in a third 25 kHz channel, and 9600 bps C4FM data in a 6.25 kHz fourth channel. 
     The DDC output vectors from each DDC  210   a - 210   d  include Cartesian (I and Q), along with magnitude, phase, and instantaneous frequency, which support data and voice demodulators operating on polar data. The outputs from DDDs  210   a - 210   d  are stored in registers within I/O, Clock, and Control Buffers circuit block  211 , also implemented within FPGA  208 . For the transmit path of SDR  200  (buffers), FPGA  208  implements a finite impulse response (FIR) interpolator  211 . 
     FPGA  208  operates in conjunction with a bus  213  and digital signal processor  214 . In the illustrated embodiment, DSP  214  is a Texas Instruments TMS320C5510 DSP, which supports multiple channel demodulation operations, as defined in firmware. DSP  214  also runs digital signal coding for forward error correction (FEC) and privacy, and can support digital voice decoding using commercially available vocoder firmware applications. Advantageously, SDR  200  redistributes the computational load between FPGA  208  and DSP  214  such that a large portion of the high speed DSP processing typically found in existing radio receivers, for example CORDIC rotation and frequency differentiation, is now implemented in FPGA  208 . 
     A direct memory access (DMA) system implemented with DSP  214  enables the transfer and buffering of blocks of data samples between buffers within buffers block  211  and the DSP memory space. For example, when a prescribed block length of receive data processed by a DDC  210   a - 210   d  has been collected within buffer, DSP  214  retrieves those data blocks using DMA and performs the balance of the data or voice demodulation tasks. DSP  214  then outputs from one (1) to four (4) user data streams to host processor  215  via host port interface  220 . One (1) of those data streams can be a voice channel routed to an audio codec  216  after preprocessing by DSP  214 . Audio codec  216  emits an analog voice audio signal. 
     Host processor  215  downloads the boot code configuring FPGA  206  and DSP  214 . Advantageously, boot downloading can be performed before or after field deployment of SDR  200 , and allows field code upgrades to the FPGA, DSP, and host operating systems. 
     A voltage controlled temperature compensated crystal oscillator (VCTCXO)  217  establishes the time base for the circuitry of SDR  200 . In the illustrated embodiment, VCTXO  217  generates a 19.2 MHz clock signal, which is level shifted and buffered within FPGA  208  and then provided to DSP  214  as the master clock ( MCLK ) signal. This clock signal is also provided as a reference signal to clock generation circuitry  218 . Clock generation circuitry  218  includes a 921.6 MHz frequency synthesizer, for example a National Semiconductor LMX2531 frequency synthesizer, along with frequency dividers and level shifters. Clock generation circuitry  218  provides a set of clock signals, and in particular, a 57.6 MHz clock signal for driving ADCs  203   a - 203   c , as well as the clock signals needed by DDS  205  and DDCs  210   a - 210   d.    
       FIG. 2B  is a more detailed block diagram of a selected one of DDCs  210   a - 210   d  of FPGA  208 . As shown in  FIG. 2B , digital mixers  219   a  and  219   b , which are driven by numerically controlled digital oscillator (NCO)  220 , generate in-phase (I) and quadrature (Q) signals from the input data received from crossbar switch  209 . NCO oscillator is controlled by frequency control data loaded into frequency register  221 . Frequency register  221 , gain register  223 , decimation rate register  226 , and filter coefficient register  228  are loaded from bus  213  by DSP  214 . In the illustrated embodiment, host  215  sends DSP  214  digital receive and transmit values in Hz, which are then validated and converted into appropriate numerical values, and then stored in the corresponding register. (In alternate embodiments, host  215  may directly the load registers within FPGA  208  using the DSP DMA system.) 
     The I and Q signals are shifted in barrel shifters  222   a - 222   b , under the control of data stored within gain register  223 . Generally, barrel shifters  222   a - 222   b  selectively shift the bits of each value output from the corresponding mixer  221   a - 221   b  to double the digital gain for each bit shifted (with sign bits maintained in their current states). 
     The I and Q signals are then filtered and decimated by corresponding cascaded integrator-comb (CIC) filters  224   a - 224   b , under the control of clock enable signals generated by clock enable circuit block  225  and the data loaded into decimation rate register  226 . In the preferred embodiment, where the input data stream is received at 57.6 Msps, CIC filters  224   a - 224   b  decimate by 1200 in response to 48 kHz clock enable signals. 
     After decimation, the I and Q data streams are lowpass filtered and further decimated by lowpass filters (LPFs)  227   a  and  227   b , also enabled by clock enable block  221 . The FIR filter coefficients are selected through filter coefficient select register  228 . In the preferred embodiment, LPFs  227   a  and  227   b  are 200-tap FIR filters that implement a cutoff frequency of 6 kHz. The decimated and filtered I and Q samples are then sent to buffers within buffers block  211  of  FIG. 2A  for collection into blocks for use in signal demodulation by DSP  214 . 
     Each DDC  210   a - 210   d  also includes CORDIC rotation and phase differentiation circuitry  229 , which generates digital magnitude, phase, and instantaneous frequency information. This feature advantageously supports demodulation algorithms running on DSP  214  that utilize polar data. 
     During data transmission processing, data packet bits received by DSP  214  through host port  220  from host processor  215  are converted to bipolar format and then passed to buffers within FPGA  208 . FPGA  208  then performs pre-modulation FIR filtering (e.g. Gaussian for GMSK modulated data) and interpolation within FIR interpolating filter block  212 . The resulting data are combined with the carrier frequency data and sent to DDS  205  for conversion into analog form and ultimate transmission as an RF signal. 
     For analog voice transmission, voice samples received by DSP  214  from voice Codec  216  are preprocessed prior to delivery to FPGA  208 . In the illustrated embodiment, DSP  214  implements analog voice processing operations including pre-emphasis filtering, amplitude limiting, and a FIR filtering for voice frequency band limiting. 
     As discussed above, the DSP implemented functions, for example GMSK modulation and demodulation, generate or operate on blocks of samples that are contained in sample buffers within buffers block  211  of FPGA  208 . These sample buffers are maintained by the DSP DMA system. Generally, the DSP DMA and hardware interrupt system services sample buffers for transferring data to and from DSP  214  to peripherals, such as FPGA  208 . In the preferred embodiment, the DMA system supports up to six (6) simultaneously active DMA channels, allocated as four (4) receive channels, one (1) transmit channel, and one (1) audio channel. 
     In particular, the DMA system generates a real time interrupt when a new block of samples is ready (in the receive mode) or data are needed (in the transmit mode) for processing by DSP  214 . Generally, the interrupt rate is derived from the system clock and is integrally related to the sampling frequencies, which can range from two (2) to ten (10) times the bit rate of the data stream being processed. In the case of transmission processing, the sample buffers are at the output of the signal processing chain, while during reception processing, the sample buffers are at the input of the signal processing chain. 
     Receive and transmit band and channel control is implemented by a set of tables accessed by DSP  214  and populated by host processor  215  on system start-up. The channel palette defines, in the preferred embodiment, up to twenty one (21) receive and transmit frequency pairs, along with the modulation parameter value that selects modulation type, FCC designated channel spacing, and bit rate. A channel palette validate routine validates the channel palette contents at system start up and whenever called by host processor  215  after a channel palette change. Generally, valid and invalid receive channels are marked, with the corresponding transmit channel of the pair similarly assumed valid or invalid. Unused channels are indicated by zeros. 
     A channel assignment table, which is a subset of the channel palette, identifies up to four (4) active assigned receive channel numbers from the validated channel palette. The active assigned channels tune DDCs  210   a - 210   d.    
     For signal reception on the four (4) assigned receive channels, four (4) corresponding sets of dual sample receive buffers are established in buffers block  211  of FPGA  208 . Each pair of buffers stores either the I and Q output data or the phase, magnitude, and instant frequency output data generated by the associated DDC  210   a - 210   d . In a ping-pong fashion, one dual sample buffer is filled by the DMA system while the other dual sample buffer is accessed to provide a sample block to the appropriate DSP demodulator routine. Whenever a sample block buffer is filled, a DMA interrupt occurs and its service routine moves the ping-pong buffer pointer(s) to the alternate buffer of the pair. 
     During voice operations, audio data samples are transferred by DMA between audio codec  216  and one of a pair of ping-pong audio sample buffers. Specifically, a single ping-pong buffer pair is used to transfer modulation samples from DSP  214  to FPGA  208  while the transmitter is keyed. FPGA  208  then accesses samples from one buffer and when that buffer is empty, the DMA system requests a new sample block from DSP  214  via an interrupt. 
     In the illustrated embodiment, host processor  215  can initiate transmission on one (1) active transmit channel defined in the channel assignment table. Specifically, a transmit key command, which indicates which of the assigned channels to transmit on, initiates a transmit operation. A receive stop routine interrupts reception on the selected channel. The corresponding modulation routine (e.g. GMSK, C4FM) being run by DSP  214  is initiated, along with activation of the required RF transmit circuits (not shown). A transmit state machine within FPGA  208  is enabled, such that FGPA  208  begins to generate interrupts to DSP  214  to transfer data into the ping-pong transmit buffers. On data channels, either individual transmit packet bytes or the entire packet is transferred to DSP  214  from host processor  215  via host processor interface  220 . 
     Tasks being executed by DSP  214  are put into a task buffer, with each task indicating that an incoming block of samples is ready for processing by the given modulation routine being executed or that the samples in the current transmit buffer have been expended. Once the oldest task is begun, it runs to completion before the next oldest task is called. In particular, the transmit DMA interrupt from FPGA  208  enters the DSP transmit data modulator task in the next available position in the task buffer. When the task loop calls it, the modulator subroutine runs using packet data bits as input. DSP  214 , through the DMA system, fills one of the data transmit sample block ping-pong buffers, as its output and then returns to the task buffer to start the next task. 
     Generally, the baseband modulation routine running on DSP  214  implements data pre-coding. The resulting output samples are scaled to generate a precise frequency offset that is interpolated by a FIR pre-modulation filter and then added to the carrier frequency phase increment in FPGA  208 . The phase increment information is used by transmit DDS  205  to generate the desired carrier frequency. 
     During transmit of analog voice, audio codec  216  quantizes the voice or audio tone input from a microphone (not shown) into 16-bit pulse code modulation (PCM) samples at a fixed rate of around 8 ksps. These samples are collected by the DMA system into audio sample blocks. The baseband voice processor implemented by DSP  214  provides audio pre-emphasis (band-limited differentiation), amplitude limiting (clipping), and lowpass band limiting to about 3 kHz. The resulting samples are scaled for proper frequency deviation and placed in one of the transmit block sample buffers for use by FPGA  208 . 
     During reception, if the desired reception channel has a valid entry in the channel table, the channel is activated. The phase increment is calculated and sent to FPGA  208  and the appropriate demodulation routine on DSP  214  is initiated. The applicable RF front end circuitry (not shown) is energized and initialized, as required. The DMA channel for the assigned DDC  210   a - 210   d  within FPGA  208  is also initialized and the DMA appropriate block interrupt is enabled. The DMA block interrupt, which is at the sample block rate, then controls transfer of sample blocks from FPGA  208  to DSP  214 . 
     An interrupt service routine enters receive tasks each time a complete block of either I and Q or magnitude, phase, and instantaneous frequency data has been received in the corresponding receive ping-pong buffer. When the receive task is called, the receive sample block is operated on by the demodulation subroutines running on DSP  214 . As discussed above, DDCs  210   a - 210   d  advantageously relieve DSP  214  of the burden of channel filtering, automatic gain control, automatic frequency control, decimation, and CORDIC rotation. 
     For GMSK applications, for example, the given DDC  210   a - 210   d  generates magnitude, phase, and instantaneous frequency data, which are the equivalent of frequency discriminator (arctan) and magnitude signals generated from I and Q data. These discriminator samples are used by the GMSK detection functions implemented by DSP  214  to detect packet preamble, frequency error, bit timing, sync bits, and packet data bits. The data are then demodulated by DSP  214 , formatted into bytes, then and put in an output buffer for collection by host processor  215 . 
     Advantageously, the receive data demodulator subroutine functions are called using structured variables that carry variables unique to the assigned channel so that these routines may be reused by multiple channels operating simultaneously. 
     During analog voice reception, the discriminator sample blocks from the given DDC  210   a - 210   d  are passed through a de-emphasis filter (band-limited integrator). These PCM audio samples are put into a Codec output buffer and then delivered by the DMA system to the ADC and anti-alias low pass filter within audio codec  216 . DSP  214  implements a separate high pass filter that selects only the high frequency noise output from the discriminator samples, performs amplitude detection, low pass filtering, and threshold detection. The result of the threshold detection is used as a voice audio output SINAD squelch decision for controlling audio gates downstream in the audio path. 
       FIG. 2C  illustrates in further detail a preferred architecture for implementing the booting of FPGA  208  and DSP  214 . In the embodiment shown in  FIG. 2C , host interface  220  between host processor  215  and DSP  214  is implemented in part through a complex programmable logic device (CPLD)  231 , such as an Altera EPM570 CPLD. In particular, control signals are exchanged between host processor  215  and DSP  214  through CPLD  231  and Host Processor Interface (HPI) control interface  233  and data are exchanged between host processor  215  and DSP  214  through host data bus  232 . Host processor  215  also exchanges serial peripheral interface (SPI) data and a SPI clock signal with CPLD  221  across host serial bus  234 . Boot code stored in Flash memory  230  is delivered to host processor  215  across host data bus  232 . 
     In the illustrated embodiment, the boot process for SDR  200  is performed as follows. CPLD  231  self-boots at start-up from boot code stored within internal EEPROM. Host processor  215  enables the SPI at start-up and then transfers the FPGA boot code from Flash memory  230  to CPLD  231  via the host serial bus  234 . In turn, CPLD  231  routes the FPGA boot code to FPGA  208  via the serial line Data° using the DCLK clock signal. Host processor  215  monitors the FPGA boot process for error detection and completion via host data bus  232 . Following FPGA boot, host processor  215  boots DSP  214  via CPLD  231  and the host port interface. 
     Although the invention has been described with reference to specific embodiments, these descriptions are not meant to be construed in a limiting sense. Various modifications of the disclosed embodiments, as well as alternative embodiments of the invention, will become apparent to persons skilled in the art upon reference to the description of the invention. It should be appreciated by those skilled in the art that the conception and the specific embodiment disclosed might be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the present invention. It should also be realized by those skilled in the art that such equivalent constructions do not depart from the spirit and scope of the invention as set forth in the appended claims. 
     It is therefore contemplated that the claims will cover any such modifications or embodiments that fall within the true scope of the invention.