Abstract:
A novel methodology for automatically linearizing a harmonic radar transmitter—termed Feed-Forward Filter Reflection (FFFR)—is disclosed. The method combines the reflected second harmonic from a filter with the signal passing directly through the filter. The second harmonic from these two paths are combined with equal and opposite amplitudes to reduce the second harmonic beyond filtering alone. This methodology has been experimentally verified at transmit frequencies between 800 and 1000 MHz. Implemented properly, the technique provides greater than 100 dB rejection between 1.6 and 2.0 GHz. Although the tuning has been automated, further optimization is possible. Automated tuning is demonstrated over 400 MHz of bandwidth with a minimum cancellation of 110 dB. One application for the harmonic cancellation is to create a linear radar transmitter for the remote detection of non-linear targets.

Description:
RELATED APPLICATION(S) 
       [0001]    This application claims the benefit of U.S. Provisional Patent Application No. 61/987,812 filed May 2, 2014, herein incorporated by reference in its entirety for all purposes. 
     
    
     GOVERNMENT SPONSORSHIP 
       [0002]    This invention was made with government support under Grant No. W911NF-12-1-0305, awarded by the U.S. Army Research Office. The Government has certain rights in the invention. 
     
    
     BACKGROUND OF THE INVENTION 
       [0003]    1. Field 
         [0004]    Embodiments of the present invention are generally directed to radar, and more particularly, to a methodology for automated cancellation of harmonics using feed forward filter reflection for radar transmitted linearization. 
         [0005]    2. Description of Related Art 
         [0006]    Harmonic radar exploits harmonically generated returns from nonlinear targets to aid in their detection. The advantage of nonlinear radar over traditional radar is its high clutter rejection, as most naturally-occurring (clutter) materials do not exhibit a nonlinear electromagnetic response under illumination by radio-frequency (RF) energy. The disadvantage of nonlinear radar is that the power-on-target required to generate a signal-to-noise ratio (SNR) comparable to linear radar is much higher than that of linear radar. Nevertheless, nonlinear radar is particularly suited to the detection of man-made electronic devices, typically those containing semiconductors whose radar cross-section is very low owing to their thin geometric profile. 
         [0007]    A nonlinear radar tailored to a set of RF electronic responses would help law enforcement agents locate devices whose emissions exceed those permitted by law, allow security personnel to detect unauthorized radio electronics in restricted areas, or enable first-responders to pinpoint personal electronics during emergencies such as immediately after an avalanche or earthquake. 
         [0008]    Harmonic radar is a type of nonlinear radar that transmits a single frequency f 0  and receives one or more integral multiples of that same frequency (e.g. 2f 0 , 3f 0 , 4f 0 , etc.). The most common harmonic radars receive the lowest harmonic, 2f 0 , because 2f 0  tends to be the strongest of all harmonics generated by an electronic target for a given transmit frequency and power. 
         [0009]    In order to generate a detectable harmonic response from an electronic device, the required power density on dBmW target is approximately 
         [0000]    
       
         
           
             
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         [0000]    which is comparable to the power density observed directly below a cellular base station. Thus, the harmonic radar&#39;s transmitter must provide high power to overcome interference by possible cellular towers in the vicinity. Also, typical harmonic responses are received power levels of −100 dBm, and this weak signal must not be masked by harmonics generated by the transmitter that are coupled directly to the receiver. Thus, the harmonic radar&#39;s high transmit power must be provided with high linearity. 
       Basic Harmonic Radar 
       [0010]    A simple harmonic radar is shown in  FIG. 1A . The transmitter consists of a synthesizer which outputs a single frequency f 0 , a power amplifier (PA) which boosts the transmit signal to a level suitable for exciting a harmonic response from the target, and a transmit (T x ) antenna. The single frequency f 0  illuminates the target and the harmonic 2f 0  radiates from the target back towards the radar. The receiver consists of a receive (R x ) antenna, a low-noise amplifier for boosting the received signal to a level suitable for capture, and an analog-to-digital converter (ADC) which records the received signal. Target detection may be performed using this continuous-wave configuration. Ranging may be accomplished by pulsing or otherwise modulating the transmission. 
         [0011]    Unfortunately, practical harmonic radar design is not so straightforward, as illustrated in  FIG. 1B . Three reasons highlighted below are: 
         [0012]    The power amplifier, in addition to boosting the transmitted tone, generates harmonics. If the amplifier-generated harmonic 2f 0  is not attenuated sufficiently before it arrives at the T x  antenna, this harmonic will be radiated from the transmitter, reflect from the target, and mask the target&#39;s harmonic response. 
         [0013]    In any practical radar system (linear or nonlinear), coupling exists between the transmitter and the receiver. If this coupling is excessively high, the transmitter-generated 2f 0  will be fed directly to the receiver and will mask the target&#39;s harmonic response. 
         [0014]    The target&#39;s linear response (at f 0 , reflected from the target casing) will likely be much stronger than its nonlinear response (at 2f 0 , radiated from the target electronics). Thus, even if the T x /R x  antenna coupling is minimal, a strong signal at f 0  will enter the receiver at the R x  antenna. If this received f 0  is not attenuated sufficiently before the low noise amplifier (LNA), the LNA will pass f 0  to the ADC (possibly saturating the converter) and/or it will produce its own 2f 0  to mask the target&#39;s harmonic response. 
         [0015]    For these highlighted reasons, reduction of the system-generated harmonics, i.e. “linearization” of the radar, is necessary. 
       Linearized Harmonic Radar 
       [0016]    Two popular techniques for RF linearization are filtering and feed-forward cancellation. Filtering removes system-generated harmonics by attenuating or reflecting them at the output of the nonlinearity. Feed-forward cancellation adds a phase-shifted version of the undesired signal to the combined signal in order to remove the undesired signal. The undesired signal may be a harmonic, or it may be a strong linear signal that is likely to generate a harmonic. 
         [0017]    Filtering may be implemented in the transmitter and/or the receiver. It is depicted in  FIG. 2  as part of the transmitter identified as (A). Here, a lowpass filter removes 2f 0  at the output of the amplifier, which prevents the amplifier-generated 2f 0  from radiating out of the T x antenna. Cancellation is usually implemented in the receiver. It is depicted in  FIG. 2  identified as (B) inserted at the junction between the R x  antenna and the LNA. A 180° phase-shifted version of f 0  is added to the signal received from the R x  antenna, where the signal includes the target response at f 0  as well as 2f 0 . The vector sum of the phase-shifted f 0  with the un-shifted f 0  is ideally zero, ensuring that only 2f 0  appears at the output of the cancellation circuit and continues along the receiver chain. 
         [0018]    The architecture presented in  FIG. 2  is still not an adequate nonlinear target detector for practical standoff ranges between the T x /R x  antennas and an electronic target. A typical electronic target response, at a distance of 3 m, illuminated by 1 W at 800 MHz from a T x  antenna with a gain of 9 dBi, and received at 1600 MHz from an R x  antenna with a gain of 10 dBi, is approximately P target =−90 dBm. For 10 W transmit power and a distance of 20 m, the target response drops to P target =−130 dBm. Assume that P trans =40 dBm at f 0  and that the coupling directly between P trans  and P rec  (at all frequencies, for simplicity) is ΔP coupled =30 dB. If the amplifier generates P trans =−30 dBm at 2f 0  and if the filter is capable of rejecting 2f 0  at the output of the amplifier by 60 dB, then the transmitter-generated harmonic that couples directly to the receiver is 
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         [0000]    which is above the target response (P system &gt;P target ) by 10 dB, for a distance of 20 m. This scenario is illustrated in  FIG. 3 , for a finite frequency band f α  to f β  over which the target emits a measurable harmonic response. As depicted, the target response at 2f 0  is masked by the system-generated harmonic distortion at 2f 0 ; thus, the target cannot, in theory, be detected. 
         [0019]    To reduce the system-generated distortion P system  to a level below the target response P target , several approaches can be taken: 
         [0020]    The rejection provided by the lowpass filter can be increased. The tradeoff is increased passband loss. The signal will need to traverse additional filter elements that will not only increase rejection in the stopband but will also increase loss in the passband. Also, lowpass filtering is a fixed solution that does not allow tuning the circuit to reject particular harmonics (e.g. if f 0  and 2f 0  are not known). 
         [0021]    A bandstop filter can be substituted for the lowpass filter. The tradeoff is a periodic pattern in frequency for the passband, which may be undesirable if the receiver is sensitive to high-frequency noise and/or higher harmonics. Like the lowpass filter, the bandstop filter is a fixed-frequency solution. 
         [0022]    A tunable lowpass filter may be substituted for the fixed lowpass filter. This solution is still not ideal because tuning is typically accomplished mechanically, which is slow compared to the change-of-frequency required for a practical radar system such as a stepped-frequency radar, electronically, which degrades the linearity of the transmitted signal. 
         [0023]    A filter bank may be implemented with electronic switches. However, insertion of switches to select between multiple filters will increase the loss of the overall filtering structure, and/or degrade the linearity of the transmitted signal. 
         [0024]    Further improvements would be useful. 
       BRIEF SUMMARY OF THE INVENTION 
       [0025]    Embodiments of the present invention are generally directed to a methodology for automated cancellation of harmonics using feed forward filter reflection for radar transmitted linearization. 
         [0026]    According to embodiments, a system is provided for linearizing a harmonic radar transmitter that includes a power amplifier outputting a transmit signal with a transmit frequency and an amplifier-generated harmonic. More particularly, the system comprises a directional coupler in series with an RF filter and a signal combiner with the transmit signal from the power amplifier passes through the directional coupler to the RF filter. The RF filter is configured to reject the amplifier-generated harmonic, such that the amplifier-generated harmonic is reflected back through the coupler in the reverse direction, and the filter passes the transmit frequency and system-generated harmonic to the signal combiner. The reflected amplifier-generated harmonic from the coupler passes through a variable attenuator and a phase shifter, with the variable attenuator configured to reduce the magnitude of the reflected amplifier-generated harmonic to match that of the system-generated harmonic, and the phase shifter configured to cause the reflected amplifier-generated harmonic to be 180 degrees out of phase with the system-generated harmonic, such that the amplifier-generated and system-generated harmonics cancel out at the combiner. The combiner then outputs the transmit frequency without the harmonic to a transmit antenna. 
         [0027]    The variable attenuator and phase shifter can be automatically adjusted so that the amplifier-generated and system-generated harmonics cancel out at the combiner. In some embodiments, the system may further include: (i) a radar receiver including a receive antenna coupled configured to a filter to reject the transmit frequency and pass the harmonic; (ii) a fixed attenuator configured to shift the cancellation frequency to cancel different frequencies; (iii) different couplers configured to tune out lower frequencies requiring less attenuation; (iv) an amplifier in series with the phase shifter to configured cancel lower frequencies having less loss through the filter; and/or (v) two vector modulators and an amplifier configured to improve the frequency tuning range on the high and low sides. 
         [0028]    According to other embodiments, a system for linearizing a harmonic radar receiver includes: an antenna configured to receive a fundamental transmit frequency and a desired harmonic; a high pass filter coupled to the antenna that is configured to pass the harmonic and reject the fundamental; a directional coupler configured to receive the rejected fundamental and redirect it to a variable attenuator and a phase shifter; and one or more vector modulators configured to control the variable attenuator and a phase shifter to cancel the fundamental transmit frequency via summation with the rejected fundamental. 
         [0029]    These and other embodiments of the invention are described in more detail, below. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0030]    So that the manner in which the above recited features of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of this invention and are therefore not to be considered limiting of its scope, for the invention may admit to other equally effective embodiments, including less effective but also less expensive embodiments which for some applications may be preferred when funds are limited. These embodiments are intended to be included within the following description and protected by the accompanying claims. 
           [0031]      FIG. 1  shows a simple harmonic radar, where  FIG. 1A  shows its ideal performance and  FIG. 1B  show its actual performance. 
           [0032]      FIG. 2  show a harmonic radar linearized by filtering and feed-forward cancellation. 
           [0033]      FIG. 3  shows transmitted and received spectra for P system &gt;P target  showing insufficient transmitter linearization. 
           [0034]      FIG. 4  shows a schematic for harmonic radar with transmitter linearization by feed-forward filter reflection according to embodiments of the present invention. 
           [0035]      FIG. 5  is a simple illustration showing how the phase changes through the different paths in a feed-forward filter reflection system. 
           [0036]      FIG. 6  shows filter response of the feed-forward filter reflection in one exemplary embodiment. 
           [0037]      FIG. 7  shows a feed-forward filter reflection implementation according to an exemplary embodiment. 
           [0038]      FIG. 8  is a plot of frequency response of feed-forward filter reflection tuning out various frequencies. 
           [0039]      FIG. 9  is a plot of measured optimum vector modulation (VM) phase data along with a best-fit line. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0040]    This invention resides in a system and methods for automatic linearizing a harmonic radar transmitter. In the preferred embodiments, a transmitter for a harmonic radar transmits f 0  and receives only 2f 0 . The solution involves a form of tunable lowpass filter whose passband remains unaltered by tuning but whose deepest stopband rejection (notch) frequency is flexible. The notch frequency corresponds to the harmonic to be received from the target. For this study, the notch is tuned to 2f 0 , but it may also be tuned to a higher harmonic (e.g. 3f 0 , 4f 0 , etc.) whose reception is used for target classification. 
         [0041]    Tuning occurs in a low-power branch parallel to the lowpass-filtered signal, which: minimizes signal loss, enables fast, electronic tuning, maintains linearity in the high-power branch. This invention demonstrates the feasibility of electronically tuning such a system. 
       Feed-Forward Filter Reflection (FFFR) 
       [0042]    A novel linearization methodology for harmonic radar is presented in  FIG. 4 . The linearization circuit consists of a filter, a directional coupler, an amplitude modulator, a phase shifter, and a combiner (summation circuit). From  FIG. 4 , the power amplifier feeds Port A with both the desired frequency f 0  and the undesired harmonic. The transmit signal propagates through the coupler with minimal loss and arrives at the filter. The filter is designed to pass the desired frequency and to reject the amplifier-generated harmonic (in the forward direction) according to its two-port transmission characteristic |S 21 |. At the output of the filter, the transmitted signal is partially linearized, but still contains enough of the system-generated harmonic to mask the target response. 
         [0043]    RF filters are generally designed to reflect (and not attenuate) the frequencies that they reject. Thus, the rejected harmonic reflects from the filter and propagates in the reverse direction, back through the directional coupler. The coupler captures some of the reverse-traveling wave (typically 10 dB or 20 dB) and sends the signal to a variable attenuator and phase shifters. This pair modifies the harmonic to a wave that is equal in magnitude and opposite in phase to the harmonic output from the filter. We will call this the cancellation path. When the filtered output is summed with the cancellation path the second harmonic cancels and the signal, P trans , is fully linearized. 
       Automating Tuning of FFFR Circuit 
       [0044]    As stated in the previous sections, in order to cancel the second harmonic the phase difference between the filter and cancellation paths needs to be exactly 180 degrees at the desired frequency. The magnitude of the two signals also needs to be equal at the time on recombination. Thus, it is natural to break up the tuning process into tuning the phase to be 180 degrees out of phase and tuning the magnitude to be the same. 
       Tuning Phase 
       [0045]    A simple illustration of how the phase changes through the different paths is shown in  FIG. 5 . In  FIG. 5 , R f  and R c  are the electrical lengths of the filter and cancellation paths respectively, β is the wave number, φ m  is the phase change caused by the vector modulator (VM) and φf p  and φ cp  are the total changes is phase in the filter path and cancellation path, respectively. To stay general, the phase difference between the cancellation path (φ cp ) and filter path (φf p ) could be 180°+n×360°, where n=0, 1, 2. This condition for cancellation can be written in radians as shown in Eq. 2. Also, φf p  and φ cp  are defined in Eq. 3. 
         [0000]      φ fp −φ cp =(2 n− 1)π, n= 1,2,3  (2)
 
         [0000]      φ fp   =βR   f ,φ cp   =βR   c +φ m   (3)
 
         [0000]      Plugging Eq. 3 into Eq. 2, we obtain 
         [0000]      β R   f −(β R   c +φ m )=(2 n− 1)π  (4)
 
         [0046]    Rearranging terms in Eq. 4, it is easy to get the expression in Eq. 5 
         [0000]      β( R   f   −R   c )−φ m =(2 n− 1)π  (5)
 
         [0047]    The substitutions made to get from Eq. 4 to Eq. 5 assume that the speed of the wave in both the filter path and cancellation path are the same. This is not an unrealistic assumption when tuning out single frequencies at a time, but if tuning is to be done across a wide bandwidth at the same time, dispersion needs to be taken into account. 
         [0048]    To further reduce the condition for cancellation two addition substitutions are made, namely, R f −R c =ΔR and β=2πf/ν, where ν is the speed of the wave inside the circuit. After making the substitutions and solving for f, the tuning frequency, the tuning expression can be expressed as in Eq. 6. 
         [0000]    
       
         
           
             
               
                 
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       Tuning the Magnitude 
       [0049]    The above equations show how changing the vector modulator phase changes the cancellation frequency. The other half of the tuning process is matching the loss through the filter and cancellation paths. The loss through the filter path is set by the LPF. The loss through the filter path can be expresses as the transfer function of the filter, or |S f   21 |. The loss through the cancellation path is set by the two couplers and the loss through the VM. Each coupler has 20 dB of loss and the VM can change its loss from −5 dB to −35 dB. Therefore, the total loss through the cancellation path is between 45 and 75 dB. This means that the cancellation path can cancel any frequency that has between 45 and 75 dB of loss through the filter path. For the Mini-Circuits NLP-1000+ filter, this means that any frequency between 1.57 and 2.35 GHz can be canceled, as seen in  FIG. 6 . 
         [0050]    If different frequencies need to be canceled, a fixed attenuator can be added to shift the cancellation frequency higher. To tune out lower frequencies, less attenuation is needed so different couplers can be used, say −10 dB in place of the −20 dB. An amplifier can also be added to cancellation path to cancel lower frequencies that have less loss through the filter. To improve the frequency tuning range on the high and low side, two VMs can be used in addition to an amplifier. For our application, canceling frequencies between 1.6-2.0 GHz, one VM and no amplifiers are needed. 
       Implemention of Automated FFFR Tuning 
       [0051]    The VM is controlled with the analog outputs on a NI DAQ data acquisition system using LabView and an Agilent PNA N5225A network analyzer is also controlled with LabView. The PNA is setup in S 21  mode and is connected to Ports A and B of the FFFR network, shown in  FIG. 4 . The PNA provides the feedback about how well the FFFR is canceling the desired frequency. The frequency required to cancel is inputted into LabView and the program first sweeps the phase of the VM. Sweeping the phase corresponds to changing the frequency of the notch created from the cancellation, from Eq. 6. Data from the PNA at the desired frequency are stored as the phase of the VM is swept. The data are stored as S 21  at each frequency vs VM phase. The minimum of the S 21  data is found. The phase that provides the minimum S 21  corresponds to the phase required to cancel the desired frequency. 
         [0052]    Once the desired phase is found, the magnitude of the VM is swept. S 21  measurements are taken at the desired frequency as the VM sweeps magnitude. A plot of S 21  vs. VM magnitude is generated and the minimum is found. The VM magnitude of the minimum of the S 21  corresponds to the amount of attenuation needed to match the filter path. The sweeping of the magnitude and phase is done several times to achieve an S 21  value of less than 110 dB. 
         [0053]    With no a priori knowledge of the magnitude or phase required to cancel the desired frequency this technique will go through 100-120 combinations of magnitude and phase before reaching the −110 dB S 21  desired cancellation. However, with knowledge of the required magnitude and phase, only 10-20 combinations are needed. It would be apparent to a person of skill in the art that optimization techniques can be implemented to reduce the number of iterations. 
       Measurements and Results 
       [0054]    The implementation of the automated FFFR technique has been chosen for a harmonic radar to operate over the frequency range of 800-1,000 MHz. Therefore, the second harmonic will be generated from 1,600-2,000 MHz. For this reason the frequency range chosen for the frequency rejection is 1,600-2,000 MHz, with the LPF passing DC—1,000 MHz. 
         [0055]    The FFFR technique has been implemented using the RF circuit shown in  FIG. 7 . The directional coupler is the HP 778D, the variable attenuator and phase shifter are implemented with an Analog Devices (AD8341), Vector Modulator (VM), and another combiner HP 778D. The lowpass filter tested is the Mini-Circuits NLP-1000+. 
         [0056]    The frequency response from Port A to Port B is measured with the VM tuned to cancel 5 frequencies, namely, 1.6, 1.7, 1.8, 1.9 and 2.0 GHz. As stated, this frequency range corresponds to the second harmonic that would be generated by a power amplifier transmitting between 800 and 1,000 MHz. The Agilent PNA is used to collect the frequency response, S 21 .  FIG. 8  shows the results. 
         [0057]    Each trace corresponds to the FFFR tuning out a different frequency. In addition to storing the S 21  data from each tuning, the magnitude and phase settings of the VM are recorded. They are given in Table I. 
         [0000]    
       
         
               
             
               
               
               
             
               
               
               
             
           
               
                 TABLE I 
               
             
             
               
                   
               
               
                 Vector Modulator (VM) settings for canceling 
               
               
                 1.6, 1.7, 1.8, 1.9 and 2.0 GHz 
               
             
          
           
               
                 Tuning Frequency (GHz) 
                 Magnitude of VM 
                 Phase of VM (Rad./π) 
               
               
                   
               
             
          
           
               
                 1.6 
                 0.72 
                 1.55 
               
               
                 1.7 
                 0.44 
                 1.90 
               
               
                 1.8 
                 0.33 
                 2.16 
               
               
                 1.9 
                 0.16 
                 2.42 
               
               
                 2.0 
                 0.085 
                 2.86 
               
               
                   
               
             
          
         
       
     
         [0058]    In an effort to speed up the automation process, the VM phase is compared to the tuning frequency and a line of best fit is obtained. This line of best fit relates the desired frequency to cancel to the required VM phase setting. This equation follows from Eq. 6. A plot with the measured data and the fitted line is shown in  FIG. 9 . 
         [0059]    The equation for the fitted line is: 
         [0000]    
       
         
           
             
               
                 
                   
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         [0060]    Equation 7 was developed from the cancellation condition, Eq. 3, and directly yields the cancellation frequency for a given phase. A more practical manipulation of the equations yields the required tuning phase to cancel a desired frequency, as given in Eq. 8. 
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         [0061]    Using Eq. 8, the required VM phase to cancel any frequency within the tunable range can be found. The value of VM phase can only serve as a starting point for tuning. If high cancellation is required, 10-15 iterations of tuning are still required. The reason for this is because if 100 dB of cancellation is required, the phase difference between the two signal needs to be within 0.1% of 180° and this level of accuracy is not obtainable with a fitted line. This is because the tuning process is very sensitive to small changes in cable length and temperature. 
         [0062]    While the emphasis herein has been placed on the transmitter side of the system, the FFFR technique can also be applied to the receive side of a harmonic radar. A high pass filter can be used to pass the harmonic and reject the fundamental. The fundamental frequency signal can then be coupled off using the same couplers. The magnitude and phase can be shifted using similar vector modulators, depending on the frequency, and the same cancellation should be achievable. 
         [0063]    Aspects related to the invention have been previously disclosed in: (1) K. A. Gallagher, G. J. Mazzara, K. D. Sherbondy, R. M. Narayanan, and A. F. Martone, “Automated cancellation of harmonics using feed-forward filter reflection for radar transmitter linearization,” Proceedings of the SPIE, Vol. 9077, pp. 90770U(1-10), May 2014 (presented at conference in Baltimore, Md. on May 5, 2014; published in the SPIE proceedings on May 29, 2014); and (2) K. Gallagher, R. Narayanan, G. Mazzara, K. Sherbondy, “Linearization of a harmonic radar transmitter by feed-forward filter reflection,”  Proceedings of the IEEE Radar Conference , May 2014. (presented in Cincinnati, Ohio on May 20, 2014), both disclosures are herein incorporated by reference in their entireties. 
         [0064]    The foregoing description, for purpose of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. The embodiments were chosen and described in order to best explain the principles of the present disclosure and its practical applications, and to describe the actual partial implementation in the laboratory of the system which was assembled using a combination of existing equipment and equipment that could be readily obtained by the inventors, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as may be suited to the particular use contemplated. 
         [0065]    While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.