Patent Publication Number: US-2022229343-A1

Title: System and method for calibrating pic-based optical phased array transmitter and receiver

Description:
TECHNICAL FIELD 
     This disclosure is directed in general to optical systems. More specifically, this disclosure relates to a system and method for calibrating a photonic integrated circuit (PIC) based optical phased array (OPA) transmitter and receiver. 
     BACKGROUND 
     Next-generation optical phased arrays (OPAs) are being fabricated on photonic integrated circuits (PICs). In some OPAs, the transmitter (Tx) and receiver (Rx) are assembled together in an integral component. Typically, a PIC-based Tx/Rx assembly is a static device that is manufactured to maintain alignment. However, in the case of large-scale OPAs, there is no known fabrication technique that results in tolerances controlled to the nanometer level as is required in some systems. 
     SUMMARY 
     This disclosure provides a system and method for calibrating a PIC-based optical phased array transmitter and receiver. 
     In a first embodiment, a method includes illuminating a photonic integrated circuit (PIC) of a transmit aperture of a laser communication terminal and a PIC of a receive aperture of the laser communication terminal with multi-wavelength light, where each PIC includes multiple antenna elements forming an optical phased array (OPA). The method also includes determining light intensities of different wavelengths of the multi-wavelength light after the multi-wavelength light has passed through each PIC. The method further includes estimating phases of light associated with the antenna elements based on variations in the light intensities. In addition, the method includes adjusting one or more phase shifters of at least one of the PICs based on the estimated phases of light. 
     In a second embodiment, a system includes a calibration source configured to illuminate a PIC of a transmit aperture of a laser communication terminal and a PIC of a receive aperture of the laser communication terminal with multi-wavelength light, where each PIC includes multiple antenna elements forming an OPA. The system also includes one or more calibration detectors configured to determine light intensities of different wavelengths of the multi-wavelength light after the multi-wavelength light has passed through each PIC and estimate phases of light associated with the antenna elements based on variations in the light intensities. The system further includes a controller configured to adjust one or more phase shifters of at least one of the PICs based on the estimated phases of light. 
     In a third embodiment, a system includes a laser communication terminal including a transmit aperture and a receive aperture, where each aperture includes a PIC and each PIC includes multiple antenna elements forming an OPA. The system also includes a calibration source configured to illuminate the PIC of the transmit aperture and the PIC of the receive aperture with multi-wavelength light. The system further includes one or more calibration detectors configured to determine light intensities of different wavelengths of the multi-wavelength light after the multi-wavelength light has passed through each PIC and estimate phases of light associated with the antenna elements based on variations in the light intensities. In addition, the system includes a controller configured to adjust one or more phase shifters of at least one of the PICs based on the estimated phases of light. 
     Other technical features may be readily apparent to one skilled in the art from the following figures, descriptions, and claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       For a more complete understanding of this disclosure, reference is now made to the following description, taken in conjunction with the accompanying drawings, in which: 
         FIG. 1  illustrates an example photonic integrated circuit (PIC) based laser communication terminal with transmit and receive apertures according to this disclosure; 
         FIG. 2  illustrates an example PIC forming part of a transmit aperture or a receive aperture in the laser communication terminal of  FIG. 1  according to this disclosure; 
         FIG. 3  illustrates an example radiation pattern of light emitted by a light source according to this disclosure; 
         FIG. 4  illustrates an example calibration system for calibrating a transmit aperture or receive aperture according to this disclosure; 
         FIG. 5  illustrates an example calibration source according to this disclosure; 
         FIG. 6  illustrates example light from a point source that is incident on the PIC of a transmit aperture or receive aperture according to this disclosure; 
         FIG. 7  illustrates an example calibration detector according to this disclosure; 
         FIG. 8  illustrates an example chart showing intensity patterns of multi-wavelength light for different distances according to this disclosure; 
         FIG. 9  illustrates example charts showing intensity patterns at different wavelengths of multi-wavelength light according to this disclosure; and 
         FIG. 10  illustrates an example method for calibrating a PIC-based optical phased array transmitter and receiver according to this disclosure. 
     
    
    
     DETAILED DESCRIPTION 
       FIGS. 1 through 10 , described below, and the various embodiments used to describe the principles of the present disclosure are by way of illustration only and should not be construed in any way to limit the scope of this disclosure. Those skilled in the art will understand that the principles of the present disclosure may be implemented in any type of suitably arranged device or system. 
     For simplicity and clarity, some features and components are not explicitly shown in every figure, including those illustrated in connection with other figures. It will be understood that all features illustrated in the figures may be employed in any of the embodiments described. Omission of a feature or component from a particular figure is for purposes of simplicity and clarity and is not meant to imply that the feature or component cannot be employed in the embodiments described in connection with that figure. It will be understood that embodiments of this disclosure may include any one, more than one, or all of the features described here. Also, embodiments of this disclosure may additionally or alternatively include other features not listed here. 
     As discussed above, next-generation optical phased arrays (OPAs) are being fabricated on photonic integrated circuits (PICs). In some OPAs, the transmitter (Tx) and receiver (Rx) are assembled together in an integral component. Typically, a PIC-based Tx/Rx assembly is a static device that is manufactured to maintain alignment. However, in the case of large-scale OPAs, there is no known fabrication technique that results in tolerances controlled to the nanometer level as is required in some systems. Thus, a technique for calibrating the line-of-sight and phasing of the transmitter and receiver elements is desired. Some existing calibration approaches use a feedback loop that depends on light transmitted back and forth between multiple Tx/Rx assemblies. However, in the case of satellite-based laser communication where each Tx/Rx assembly is disposed on a different satellite, the Tx/Rx assemblies may move quickly relative to each other, resulting in very limited time for acquisition and calibration. 
     This disclosure provides a system and method for calibrating a PIC-based OPA transmitter and receiver. In some embodiments, the disclosed system and method incorporate an adjunct component within a PIC that includes all of the components used for calibration. This includes internal interferometric measurement devices that provide relevant measurements. The disclosed system and method can include an off-axis calibration beacon that is viewable by the Rx channel and illuminated by the Tx channel. In some embodiments, the beacon can reside in an unused field of view position accessible to the Tx/Rx assembly. The disclosed systems and methods can be used for a number of commercial and defense-related applications, such as in a phased array laser detection and ranging (LADAR) system for use in free-space optical laser communications. While not specifically listed here, any other suitable applications are within the scope of this disclosure. 
       FIG. 1  illustrates an example PIC-based laser communication terminal  100  with transmit and receive apertures according to this disclosure. In some embodiments, the laser communication terminal  100  can be disposed at one node (such as a satellite) of a laser communication system, while a same or similar laser communication terminal  100  can be disposed at another node (such as another satellite) of the laser communication system. Multiple laser communication terminals  100  can therefore form a network for laser-based communications. 
     As shown in  FIG. 1 , the laser communication terminal  100  includes a transmit aperture  102  and a receive aperture  104  mounted on a common substrate  106 . Each aperture  102  and  104  includes a PIC  108 . Each PIC  108  includes an array of antenna elements that operate together as an OPA. For example, in some embodiments, each PIC  108  has sixty-four antenna elements arranged as an 8×8 OPA. Of course, this is merely one example, and other embodiments may include other numbers of antenna elements. For example, some embodiments may have more than one million antenna elements, such as a 1024×1024 OPA. 
       FIG. 2  illustrates an example PIC  108  forming part of a transmit aperture  102  or a receive aperture  104  in the laser communication terminal  100  of  FIG. 1  according to this disclosure. As shown in  FIG. 2 , the PIC  108  includes a laser input/output  202 , which is an input node for light generated by a laser source (not shown in  FIG. 2 ) or an output node for light received from an external source. In a transmitting PIC  108 , for example, light introduced at the laser input/output  202  can be split and carried through multiple waveguides  204 , which guide the light to multiple phase shifters  206  and multiple antenna elements  208 . In some embodiments, the waveguides  204  are silicon waveguides. Each phase shifter  206  is associated with one of the antenna elements  208 , and each phase shifter  206  can operate to control the phase of the light that is provided to its corresponding antenna element  208 . In some embodiments, each phase shifter  206  is a thermo-optic or electro-optic phase modulator, although other types of phase shifters  206  are possible and within the scope of this disclosure. Each antenna element  208  outputs a portion of the laser light introduced at the laser input/output  202 . Together, the antenna elements  208  form an OPA  210  that can generate a single light beam output from the transmit aperture  102 . 
     In some embodiments, the light beam that is output can be monitored while the phase is modulated to create a phased point spread function. The individual light beams from the antenna elements  208  are phased together to create a suitable point source for the single light beam output. That is, the individual light beams are phased together to within a small fraction of the light wavelength. For example, for light that has a wavelength of approximately 1.55 microns (approximately 1550 nm), the phase differences between the antenna elements  208  may be no more than approximately 10 nm. The phase shifters  206  can be controlled together to steer the light beam. For instance, in some embodiments, it is possible to steer the light beam in any direction within a field of regard having a predetermined size (such as a sixty degree cone or another suitable value). 
     In  FIG. 2 , the OPA  210  includes sixty-four antenna elements  208  generally arranged in an 8×8 pattern. In some embodiments, each antenna element  208  is approximately 2.5 microns by approximately 2.5 microns and includes one or more lenses or other optical elements. Of course, other sizes and configurations of antenna elements are possible. The number of waveguides  204  and phase shifters  206  is equal to the number of antenna elements  208 . Thus, in  FIG. 2 , there are sixty-four waveguides  204  and sixty-four phase shifters  206 . Due to variations in the lengths of the paths between the laser input/output  202  and the different antenna elements  208 , the light emitted by each antenna element  208  can have a different phase. However, as described in greater detail below, the phase of light emitted by each antenna element  208  can be controlled by operation of the corresponding phase shifter  206 . 
     Note that the structure shown in  FIG. 2  may also be used in a receiving PIC  108 . For example, light signals may be obtained by the antenna elements  208  and pass through the phase shifters  206 , which can alter the phases of the received light signals. The phase-shifted light signals can be transported through the waveguides  204  to the laser input/output  202  and then provided to an external component. 
       FIG. 3  illustrates an example radiation pattern  300  of light emitted by a light source according to this disclosure. As shown in  FIG. 3 , the radiation pattern  300  represents far-field radiation from the light source (such as one of the antenna elements  208  in a transmitting PIC  108 ). Among the areas of higher radiation intensity are multiple off-axis side lobes  302 . Such off-axis side lobes  302  are a common occurrence in light radiation output from a light source. In the case of the antenna elements  208 , it is possible to customize the location and intensity of the off-axis side lobes  302  by controlling the phase shifters  206  to adjust the phase of the light. In addition, as described in greater detail below, it is possible to use the off-axis side lobes  302  for calibration of the transmit aperture  102  and the receive aperture  104 . 
     Although  FIGS. 1 through 3  illustrate one example of a laser communication terminal  100  and related details, various changes may be made to  FIGS. 1 through 3 . For example, the laser communication terminal  100  and its individual components may have any suitable sizes, shapes, and dimensions. Also, various components in the laser communication terminal  100  may be combined, further subdivided, replicated, rearranged, or omitted and additional components may be added according to particular needs. 
       FIG. 4  illustrates an example calibration system  400  for calibrating a transmit aperture  102  or receive aperture  104  according to this disclosure. As shown in  FIG. 4 , the calibration system  400  includes a calibration source  402 , one or more calibration detectors  404 , and a controller  406 . The calibration system  400  is operable to concurrently calibrate the transmit aperture  102  and the receive aperture  104  of a single laser communication terminal  100 . During calibration, the calibration system  400  measures the distance through each antenna waveguide path of the transmit aperture  102  and the receive aperture  104  and makes corrective adjustments so that the paths are all substantially equal to one another. Moreover, the calibration system  400  can perform the calibration independently without the need for another laser communication terminal to transmit and receive calibration signals. The calibration system  400  does not use the transmitter laser that illuminates the antenna elements  208  for communication. Instead, light for calibration is generated by the calibration source  402 . The calibration source  402  can concurrently illuminate both the transmit aperture  102  and the receive aperture  104 . In particular, the calibration source  402  may illuminate the antenna elements  208  of the transmit aperture  102  and the receive aperture  104  with plane waves that are at a known angular separation. The antenna elements  208  can then be phased with respect to the plane wave normal. 
       FIG. 5  illustrates an example calibration source  402  according to this disclosure. As shown in  FIG. 5 , the calibration source  402  includes a multi-wavelength laser  502  having multiple tunable lasers that generate multiple laser beams at different wavelengths. In some embodiments, the laser  502  generates approximately one hundred laser beams each having a distinct wavelength. The multiple wavelengths are spaced very close together in the wavelength spectrum. For example, the span between the longest and shortest wavelengths generated by the laser  502  can be on the order of approximately 10 picometers. The multiple wavelengths enable a snapshot phase estimation, which reduces the phase adjustment time. 
     The individual light beams from the laser  502  are combined into one fiber  506  using an arrayed waveguide grating (AWG)  504 . Downstream from the AWG  504 , the fiber  506  splits into two parts, and each part carries the multi-wavelength light to a point source  508 . Each point source  508  outputs the multi-wavelength light to illuminate the PIC  108  of the transmit aperture  102  or the receive aperture  104 . While  FIG. 5  shows two point sources  508 , this is merely one example. In some embodiments, the fiber  506  may not split, and there can be a single point source  508  that simultaneously illuminates the PICs  108  of the transmit aperture  102  and the receive aperture  104 . 
       FIG. 6  illustrates example light from a point source  508  that is incident on the PIC  108  of a transmit aperture  102  or receive aperture  104  according to this disclosure. As shown in  FIG. 6 , the point source  508  sits at an off-axis position relative to the main lobe of the radiation emitted from the PIC  108 . The point source  508  emits a cone of multi-wavelength light to a collimating lens  602 , which collimates the light into a plane wave  604 . The multi-wavelength plane wave  604  is coupled into the PIC  108  at an angle that is far off-axis into an antenna side lobe, such as the off-axis side lobes  302  of  FIG. 3 . In particular, the plane wave  604  is incident into the PIC  108  at an angle that is outside the field of regard  606  of the main laser communication system. The field of regard  606  is the region in which the laser communication beam from the phased antenna array can be steered. In some embodiments, the field of regard  606  is an approximately sixty degree cone. Because of the angle of incidence, the plane wave  604  travels different distances to reach different ones of the antenna elements  208  forming the PIC  108 . 
     Turning again to  FIG. 4 , once the PICs  108  of the transmit aperture  102  and the receive aperture  104  have been illuminated with light emitted by the multi-wavelength calibration source  402 , the emitted light passes through the PICs  108 . Each calibration detector  404  is coupled to one of the PICs  108  and can detect the intensities of the illumination for each antenna element  208  and wavelength. 
       FIG. 7  illustrates an example calibration detector  404  according to this disclosure. As shown in  FIG. 7 , the calibration detector  404  includes an AWG  702  and multiple detectors  704 . The light received at each PIC  108  is collected at the antenna elements  208  (not specifically shown in  FIG. 7 ) and then progresses through the PIC  108  toward the laser input/output  202 . Some of the light in the PIC  108  is routed to the AWG  702 , where the light is demultiplexed into different wavelengths (also referred to as channels). The light is then detected by the detectors  704 . In some embodiments, there is a separate detector  704  for each channel broken out by the AWG  702 . In other embodiments, there is one detector  704  that receives the light in all channels with phase variations occurring at different frequencies for individual antenna elements  208 . In some embodiments, the detectors  704  includes germanium detectors, although other types of detectors are possible and within the scope of this disclosure. 
     Using the light detected by the detectors  704 , the calibration detector  404  operates to sense the phase of the light at each channel. For example, to perform phase sensing, the calibration detector  404  may execute an antenna phasing algorithm that involves a multi-wavelength phase (or distance) measurement. In some embodiments, the calibration detector  404  can execute a stochastic parallel gradient descent algorithm using wavelength spacing and phase variations. Depending on the phasing between each of the antenna elements  208 , the intensity patterns of the light received across the detectors  704  may be different. 
       FIG. 8  illustrates an example chart  800  showing intensity patterns of multi-wavelength light for different distances according to this disclosure. The intensity patterns of the multi-wavelength light can be measured by the calibration detector  404 . The intensity patterns are based on principles of a Michelson interferometer, which provides fringes over a range of different wavelengths. The phase that is measured with each wavelength varies depending on the wavelength. 
     As shown in  FIG. 8 , the horizontal axis of the chart  800  represents frequency of the received light, and the vertical axis represents the intensity of the light measured at the detectors  704 . Selected frequencies v 1 , v 2 , . . . , v n  corresponding to the different wavelengths of light from the multi-wavelength laser  502  are indicated with vertical lines. The dark horizontal bars in the chart  800  represent light of lower intensity, while the light horizontal bars represent light of higher intensity. The alternating pattern of dark and light horizontal bars indicate phase. The intensity pattern is shown for three different distances D 1 , D 2 , and D 3 . In some embodiments, the distance D 1  is the longest distance, and D 3  is the shortest distance. While only three distances are shown in the chart  800 , there would actually be sixty-four distances (one for each of the sixty-four antenna elements  208 ). 
     The intensity measurements  802  indicated by the circles are unique for each distance. As shown in the chart  800 , the intensity values can be recorded for each wavelength channel v n  to produce unique intensity patterns corresponding to each of the distances D 1 -D 3 . For example, moving across the frequencies from v 1  to v n  at the distance D 3 , the intensity pattern is light, dark, light. At the distance D 2 , the intensity pattern is light, dark, light, dark, light, dark, light. The calibration detector  404  can receive and interpret these intensity pattern differences to differentiate between different distances through the antenna waveguide paths and estimate the phases of light among the antenna elements  208  based on the determined distances. 
       FIG. 9  illustrates example charts  901  and  902  showing intensity patterns at different wavelengths of multi-wavelength light according to this disclosure. In particular, the chart  901  is based on light with a uniform distribution, while the chart  902  is based on light with random errors applied to each antenna element  208 . The intensity patterns at the different wavelengths of the multi-wavelength light can be measured by the calibration detector  404 . 
     As shown in  FIG. 9 , the horizontal axis of the charts  901  and  902  represents different optical path length difference (OPD) spans across the antenna paths corresponding to the antenna elements  208 . The OPD span represents the range of OPDs across the sixty-four antenna paths. The far left column corresponds to an OPD span of 1 mm, meaning that the longest antenna path (among the sixty-four antenna paths) is only 1 mm longer than the shortest antenna path. The far right column corresponds to an OPD span of 100 mm. The vertical axis of the charts  901  and  902  represent wavelength channels. In the charts  901  and  902 , the wavelengths of the multi-wavelength light range from 1542 nm to 1550 nm. The charts include data for one hundred wavelength channels, each separated by 0.08 nm (approximately 10 GHz). 
     In the charts  901  and  902 , light areas and dark areas indicate different levels of light intensity. The calibration detector  404  can receive and interpret these variations in light intensity to determine the distances through the antenna waveguide paths and estimate the phases of light among the antenna elements  208  based on the distances. 
     Turning again to  FIG. 7 , after the calibration detector  404  determines the antenna waveguide path distances and estimates the phases of lights associated with the antennas, the calibration detector  404  can provide this information to the controller  406 . In response to the information, the controller  406  can adjust one or more of the phase shifters  206  so that light across the antenna elements  208  will be in phase. The controller  406  includes any suitable structure for controlling the phase shifters  206 , such as one or more microprocessors, microcontrollers, digital signal processors (DSPs), application-specific integrated circuits (ASICs), or field programmable gate arrays (FPGAs). In some embodiments, the phase of each individual antenna element  208  can be fine-tuned to find the maximum signal intensity. One or more measurements of transmitted or received light taken after the calibration can verify that the antenna elements  208  are in phase. 
     The calibration process described above allows the transmit aperture  102  and the receive aperture  104  to be pointed to specific angles in the field of regard  606  in order to quickly establish communication with one or more other laser communication terminals  100 . After calibration, the transmit aperture  102  and the receive aperture  104  are phased in known directions and can be steered to the desired field angle in open loop control. 
     Although  FIGS. 4 through 9  illustrate one example of a calibration system  400  and related details, various changes may be made to  FIGS. 4 through 9 . For example, the calibration system  400  and its individual components may have any suitable sizes, shapes, and dimensions. Also, various components in the calibration system  400  may be combined, further subdivided, replicated, rearranged, or omitted and additional components may be added according to particular needs. 
       FIG. 10  illustrates an example method  1000  for calibrating a PIC-based optical phased array transmitter and receiver according to this disclosure. For ease of explanation, the method  1000  is described as being performed using the calibration system  400  of  FIGS. 4 through 9 . However, the method  1000  may be used with any other suitable device or system. 
     As shown in  FIG. 10 , a PIC of a transmit aperture of a laser communication terminal and a PIC of a receive aperture of the laser communication terminal are illuminated with multi-wavelength light at step  1002 . This may include, for example, the calibration source  402  illuminating the PICs  108  with the multi-wavelength plane wave  604 . Each PIC includes multiple antenna elements forming an OPA. Light intensities of different wavelengths of the multi-wavelength light are determined after the multi-wavelength light has passed through each PIC at step  1004 . This may include, for example, at least one of the calibration detectors  404  determining the light intensities of different wavelengths of the multi-wavelength plane wave  604 . Phases of light associated with the antenna elements are estimated based on variations in the light intensities at step  1006 . This may include, for example, at least one of the calibration detectors  404  estimating the phases of light associated with the antenna elements  208  using at least one of the techniques shown in  FIGS. 8 and 9 . 
     One or more phase shifters of at least one of the PICs are adjusted based on the estimated phases of light at step  1008 . This may include, for example, the controller  406  adjusting one or more of the phase shifters  206  based on the estimated phases of light. At least one measurement of emitted light is taken to verify phasing of at least one of the OPA of the transmit aperture and the OPA of the receive aperture at step  1010 . This may include, for example, the PIC  108  of the transmit aperture  102  transmitting light, the PIC  108  of the receive aperture  104  receiving light, or both, and a measurement taken of the transmitted or received light to verify phasing of either or both OPAs. It should be appreciated that the one or more phase shifters are controlled and/or adjusted in the manner described above to allow the transmit aperture  102  and/or the receive aperture  104  to be pointed to specific angles in a field of regard (e.g.,  606 ) in order to quickly establish communication with one or more other laser communication terminals  100 . 
     Although  FIG. 10  illustrates one example of a method  1000  for calibrating a PIC-based optical phased array transmitter and receiver, various changes may be made to  FIG. 10 . For example, while shown as a series of steps, various steps shown in  FIG. 10  may overlap, occur in parallel, occur in a different order, or occur multiple times. Also, some steps may be combined or removed and additional steps may be added according to particular needs. 
     In some embodiments, various functions described in this patent document are implemented or supported by a computer program that is formed from computer readable program code and that is embodied in a computer readable medium. The phrase “computer readable program code” includes any type of computer code, including source code, object code, and executable code. The phrase “computer readable medium” includes any type of medium capable of being accessed by a computer, such as read only memory (ROM), random access memory (RAM), a hard disk drive (HDD), a compact disc (CD), a digital video disc (DVD), or any other type of memory. A “non-transitory” computer readable medium excludes wired, wireless, optical, or other communication links that transport transitory electrical or other signals. A non-transitory computer readable medium includes media where data can be permanently stored and media where data can be stored and later overwritten, such as a rewritable optical disc or an erasable storage device. 
     It may be advantageous to set forth definitions of certain words and phrases used throughout this patent document. The terms “application” and “program” refer to one or more computer programs, software components, sets of instructions, procedures, functions, objects, classes, instances, related data, or a portion thereof adapted for implementation in a suitable computer code (including source code, object code, or executable code). The term “communicate,” as well as derivatives thereof, encompasses both direct and indirect communication. The terms “include” and “comprise,” as well as derivatives thereof, mean inclusion without limitation. The term “or” is inclusive, meaning and/or. The phrase “associated with,” as well as derivatives thereof, may mean to include, be included within, interconnect with, contain, be contained within, connect to or with, couple to or with, be communicable with, cooperate with, interleave, juxtapose, be proximate to, be bound to or with, have, have a property of, have a relationship to or with, or the like. The phrase “at least one of,” when used with a list of items, means that different combinations of one or more of the listed items may be used, and only one item in the list may be needed. For example, “at least one of: A, B, and C” includes any of the following combinations: A, B, C, A and B, A and C, B and C, and A and B and C. 
     The description in the present application should not be read as implying that any particular element, step, or function is an essential or critical element that must be included in the claim scope. The scope of patented subject matter is defined only by the allowed claims. Moreover, none of the claims invokes 35 U.S.C. § 112(f) with respect to any of the appended claims or claim elements unless the exact words “means for” or “step for” are explicitly used in the particular claim, followed by a participle phrase identifying a function. Use of terms such as (but not limited to) “mechanism,” “module,” “device,” “unit,” “component,” “element,” “member,” “apparatus,” “machine,” “system,” “processor,” or “controller” within a claim is understood and intended to refer to structures known to those skilled in the relevant art, as further modified or enhanced by the features of the claims themselves, and is not intended to invoke 35 U.S.C. § 112(f). 
     While this disclosure has described certain embodiments and generally associated methods, alterations and permutations of these embodiments and methods will be apparent to those skilled in the art. Accordingly, the above description of example embodiments does not define or constrain this disclosure. Other changes, substitutions, and alterations are also possible without departing from the spirit and scope of this disclosure, as defined by the following claims.