U.S. patent application number 13/238263 was filed with the patent office on 2012-02-02 for polarization switching lidar device and method.
This patent application is currently assigned to SIGMA SPACE CORPORATION. Invention is credited to Edward Lee Leventhal, Savyasachee Liptarag Mathur, Yunhui Zheng.
Application Number | 20120026497 13/238263 |
Document ID | / |
Family ID | 44308737 |
Filed Date | 2012-02-02 |
United States Patent
Application |
20120026497 |
Kind Code |
A1 |
Mathur; Savyasachee Liptarag ;
et al. |
February 2, 2012 |
POLARIZATION SWITCHING LIDAR DEVICE AND METHOD
Abstract
A polarization switching lidar device, arranged for remote
detection and characterization of airborne aggregations of
particulates, includes a pulsed laser, a mirror, a polarizing beam
splitter, an actively controlled retarder arranged to be
controllably alternated between a zero retardation state and a
quarter-wave retardation state such that the transmitted portion of
the exiting laser light beam is linearly polarized in a
predetermined direction when the actively controlled retarder is in
the zero retardation state, while being circularly polarized in a
predetermined rotational sense when the actively controlled
retarder is in the quarter-wave retardation state. A directable
telescoping assembly is arranged to collect photons backscattered
by the airborne aggregations of particulates and to redirect the
collected portion of depolarized backscattered photons onto the
polarizing beam splitter. A photodetector is arranged to generate
at least one electronic signal proportional to the collected
portion of depolarized backscattered photons.
Inventors: |
Mathur; Savyasachee Liptarag;
(Silver Spring, MD) ; Zheng; Yunhui; (Crofton,
MD) ; Leventhal; Edward Lee; (Brookeville,
MD) |
Assignee: |
SIGMA SPACE CORPORATION
Lanham
MD
|
Family ID: |
44308737 |
Appl. No.: |
13/238263 |
Filed: |
September 21, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
12693172 |
Jan 25, 2010 |
8054464 |
|
|
13238263 |
|
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Current U.S.
Class: |
356/342 ;
356/364 |
Current CPC
Class: |
G01N 21/47 20130101;
G01N 2021/4792 20130101; G01N 2021/217 20130101; G01S 7/4812
20130101; G01N 2021/1795 20130101; G01N 15/0205 20130101; G01N
2021/4709 20130101; G01S 17/95 20130101; G01N 2021/216 20130101;
Y02A 90/19 20180101; G01N 21/21 20130101; G01S 17/87 20130101; G01S
7/499 20130101; G01N 2015/0092 20130101; Y02A 90/10 20180101 |
Class at
Publication: |
356/342 ;
356/364 |
International
Class: |
G01N 21/47 20060101
G01N021/47 |
Claims
1. A polarization switching lidar device for remote detection and
characterization of at least one airborne aggregation of
particulates comprising: a source of a polarized pulsed laser light
beam; a first actively controlled retarder arranged to intersect
the polarized pulsed laser light beam, to transmit a portion of the
polarized pulsed laser light beam, and to be controllably
alternated between a zero retardation state and a quarter-wave
retardation state such that the transmitted portion of the
polarized pulsed laser light beam exiting the first actively
controlled retarder is linearly polarized in a predetermined
direction when the actively controlled retarder is in the zero
retardation state, while the transmitted portion of the polarized
pulsed laser light beam exiting the first actively controlled
retarder is circularly polarized in a predetermined rotational
sense when the first actively controlled retarder is in the
quarter-wave retardation state; a first directable telescoping
assembly arranged to intersect the transmitted portion of the
polarized pulsed laser light beam exiting the first actively
controlled retarder and to controllably redirect the intersected
polarized pulsed laser light beam into a predetermined space angle;
a second directable telescoping assembly arranged to collect at
least a portion of backscattered photons from the scanned polarized
pulse laser light beam backscattered by the at least one airborne
aggregations of particulates, and to redirect the collected portion
of backscattered photons along a detection optical path; a second
actively controlled retarder arranged along the detection optical
path to intersect the collected portion of backscattered photons,
to transmit a fraction of the collected portion of backscattered
photons, and to be controllably alternated between a zero
retardation state and a quarter-wave retardation state such that
the transmitted fraction of the collected portion of backscattered
photons exiting the second actively controlled retarder is linearly
polarized when the first actively controlled retarder is in the
zero retardation state, while the transmitted fraction of the
collected portion of backscattered photons exiting the second
actively controlled retarder is linearly polarized in a direction
perpendicular to the predetermined direction when the first
actively controlled retarder is in the quarter-wave retardation
state; a polarizer arranged to intersect the backscattered photons
exiting the second actively controlled retarder and to selectively
transmit only a part of the backscattered photons exiting the
second actively controlled retarder which is linearly polarized in
the direction perpendicular to the predetermined direction; an
optical matcher arranged to collect the transmitted part of the
backscattered photons exiting the polarizer and to focus the
transmitted part of the backscattered photons exiting the polarizer
onto a photodetector arranged to generate at least one electronic
signal proportional to the collected part of the backscattered
photons exiting the polarizer which is linearly polarized in the
direction perpendicular to the predetermined direction.
2. The polarization switching lidar device of claim 1, wherein the
source of the polarized pulsed laser light beam includes a laser
head and a half-wave plate.
3. The polarization switching lidar device of claim 2, wherein the
laser head incorporates a laser chosen from a set of lasers
consisting of laser diodes, fiber lasers, diode-pumped solid-state
lasers, and lamp-pumped solid-state lasers.
4. The polarization switching lidar device of claim 2, wherein the
half-wave plate is arranged to adjust a linear polarization of the
polarized pulsed laser light beam emitted by the laser head.
5. The polarization switching lidar device of claim 1, wherein the
first actively controlled retarder and the second actively
controlled retarder are voltage-controlled retarders chosen from a
set consisting of liquid crystal retarders, voltage-controlled wave
plates, and Pockels cell.
6. The polarization switching lidar device of claim 1, wherein the
first actively controlled retarder and the second actively
controlled retarder exhibit a transition time between, the zero
retardation state and the quarter-wave retardation state between 5
.mu.s and 100 .mu.s.
7. The polarization switching lidar device of claim 1, wherein the
first actively controlled retarder and the second actively
controlled retarder exhibits a transition time between the zero
retardation state and the quarter-wave retardation state does not
exceed 50 ns.
8. The polarization switching lidar device of claim 1, wherein the
first directable telescoping assembly and the second directable
telescoping assembly incorporate at least one internal scanning
device arranged between principal optical elements of a scanning
telescope.
9. The polarization switching lidar device of claim 1, wherein the
first directable telescoping assembly and the second directable
telescoping assembly incorporate at least one external scanning
device arranged outside of an optical path between principal
optical elements of a scanning telescope.
10. The polarization switching lidar device of claim 1, wherein the
first directable telescoping assembly and the second directable
telescoping assembly incorporate at least two telescopes arranged
in a telescope configuration chosen from a group of telescope
configurations consisting of Galilean, Keplerian, Newtonian,
Cassegrain, Maksutov-Cassegrain, Argunov-Cassegrain,
Ritchey-Chratien, Dall-Kirkham, Gregorian, Hershelian,
Schiefspiegler, Yolo, and any combination of the listed telescope
configurations.
11. The polarization switching lidar device of claim 1, wherein the
optical matcher includes a narrow band pass filter and at least one
lens.
12. The polarization switching lidar device of claim 1, wherein the
photodetector is arranged to generate at least one time-dependent
analog electronic signal proportional to the collected fraction of
depolarized backscattered photons and to digitize the at least one
time-dependent analog electronic signal into at least one
time-dependent digital signal stored in a memory unit.
13. The polarization switching lidar device of claim 2, including a
control unit arranged to control timing of alternations of the
first actively controlled retarder and the second actively
controlled retarder between the zero retardation state and the
quarter-wave retardation state, to synchronize scanning angles of
the first directable telescoping assembly and the Second directable
telescoping assembly, and to synchronize the memory unit arranged
sequentially and to store at least two separate sequences of the at
least one time-dependent digital signal so that wherein one of the
at least two separate sequences detected during the zero
retardation state is stored in at least one segment of the memory
unit, while another of the at least two sequences of the at least,
one time-dependent digital signal detected during the quarter-wave
retardation state is stored in at least another segment of the
memory unit.
14. A method for remote detection and characterization of at least
one airborne aggregation of particulates utilizing a polarization
switching lidar device, the method comprising: generating a
linearly polarized pulsed laser light beam having a predetermined
direction of linear polarization; using at least a first actively
controlled retarder, sequentially controllably switching a
polarization state of the polarized pulsed laser light beam between
a circularly polarized state polarized into a predetermined
rotational sense, when the at least the first actively controlled
retarder is controllably switched into a quarter-wave retardation
state, and into a linearly polarized state linearly polarized in a
direction substantially equivalent to the predefined direction of
linear polarization when the at least the first actively controlled
retarder is controllably switched into a zero retardation state
such that a transmitted portion of polarized pulsed laser light
beam exiting the at least the first actively controlled retarder is
linearly polarized in the predetermined polarization direction when
the at least the first actively controlled retarder is in the zero
retardation state while the transmitted portion of polarized pulsed
laser light beam exiting the at least the first actively controlled
retarder is circularly polarized having the predetermined
rotational sense when the at least the first actively controlled
retarder is in the quarter-wave retardation state; scanning the
transmitted portion of polarized pulsed laser light beam exiting
the actively controlled retarder by at least a first telescoping
assembly arranged to intersect the transmitted portion of polarized
pulsed laser light beam exiting the actively controlled retarder
and controllably redirect the intersected polarized pulsed laser
light beam into a predetermined space angle toward at least one
airborne aggregation of particulates; backscattering the scanned
transmitted portion of the polarized pulsed laser light beam
sequentially polarized into the circularly polarized state having
the predetermined rotational sense and into the linearly polarized
state having the predetermined polarization direction so that a
fraction of photons scatters back from at least one airborne
aggregation of particulates such that the photons in circularly
polarized state having the predetermined rotational sense acquire
an opposite rotational sense of circular polarization, while at
least a fraction of photons polarized in the predetermined linearly
polarized state, when scattered back, acquires a linear
polarization state polarized in an orthogonal direction relative to
the predetermined direction of linear polarization; collecting
photons from the predetermined space angle and redirecting the
collected photons onto the actively controlled retarder by at least
a second telescoping assembly; sequentially converting by at least
a second actively controlled retarder in the quarter-wave
retardation state the collected backscattered photons having the
circularly polarized state polarized in the opposite rotational
sense relative to the rotational sense of the predetermined sense
of circular polarization into the linearly polarized state having
the polarization state polarized in an orthogonal direction
relative to the predetermined direction of linear polarization,
while transmitting the scattered back photons polarized in the
linear polarization state having orthogonal direction of linear
polarization relative to the predetermined direction of linear
polarization when the actively controlled retarder in the zero
retardation state, and redirecting the converted photons onto at
least one polarizer; selectively separating the converted photons
collected sequentially onto the at least one polarizer by
transmitting only the linearly polarized photons having orthogonal
direction of linear polarization relative to the predetermined
direction of linear polarization; optically matching the
transmitted linearly polarized photons having orthogonal direction
of linear polarization relative to the predetermined direction of
linear polarization using an optical matcher arranged to collect at
least a fraction of the transmitted linearly polarized photons
having orthogonal direction of linear polarization relative to the
predetermined direction of linear polarization and focus the
transmitted linearly polarized photons having orthogonal direction
of linear polarization relative to the predetermined direction of
linear polarization onto a photodetector arranged to generate at
least two electronic signals proportional to the transmitted
linearly polarized photons having orthogonal direction of linear
polarization relative to the predetermined direction of linear
polarization; separating at least one electrical signal of the at
least two electrical signals, the separated at least one electrical
signal being generated during the quarter-wave retardation state,
from the at least another electrical signal, the at least another
electrical signal being generated during the zero retardation state
of the actively controlled retarder, and storing the separated
signals into at least two dedicated memory sections.
15. The method for remote detection and characterization of at
least one airborne aggregation of particulates of claim 14,
including a step of redirecting a transmitted portion of the
linearly polarized pulsed laser light beam by a polarizing beam
splitter arranged to intersect the linearly polarized pulsed laser
light beam.
16. The method for remote detection and characterization of at
least one airborne aggregation of particulates of claim 14, wherein
the polarization switching lidar device is arranged in at least
semi-stationary position on an observation surface having an
average altitude and directed substantially upward so as to detect
and characterize the airborne aggregations of particulates.
17. The method for remote detection and characterization of at
least one airborne aggregation of particulates of claim 14, wherein
the airborne aggregations of particulates include particulates in
at least one cloud at an altitude greater than the average altitude
of the observation surface.
18. The method for remote detection and characterization of at
least one airborne aggregation of particulates of claim 16, wherein
the particulates in the at least one cloud include particulates
from the set of particulates consisting of water droplets, ice
crystals, droplets of acidic solutions, solid particulates
incorporating carbon, solid particulates incorporating soil dust,
and mixtures and combinations of listed particulates.
19. The method for remote detection and characterization of at
least one airborne aggregation of particulates of claim 14, wherein
the polarization switching lidar device is arranged on a flying
vehicle, flying at an predetermined altitude, and the polarization
switching lidar device is directed substantially downward so as to
detect and characterize the airborne, aggregations of particulates
in the atmosphere at variable altitudes lower than the
predetermined altitude of the flying vehicle.
20. The method for remote detection and characterization of at
least one airborne aggregation of particulates of claim 14, wherein
the characterization of at least one airborne aggregation of
particulates includes at least a position determination of a source
of the at least one airborne aggregation of particulates based on
changes in the at least one electronic signal proportional, to the
collected fraction of depolarized backscattered photons.
21. The method for remote detection and characterization of at
least one airborne aggregation of particulates of claim 14, wherein
the characterization of at least one airborne aggregation of
particulates includes determination of at least a position and a
probable habitude of a source of the at least one airborne
aggregation of, particulates based on changes in the at least one
electronic signal proportional to the collected fraction of
depolarized backscattered photons.
Description
[0001] This application is a divisional application of the U.S.
patent application Ser. No. 12/693,172 filed on 25 Jan. 2010, which
is incorporated here by reference in its entirety.
FIELD OF THE INVENTION
[0002] The invention relates generally to fixed and scanning lidar
systems, and in particular to a polarization switching lidar device
for remote detection and characterization of airborne aggregation
of particulates.
BACKGROUND OF THE INVENTION
[0003] Many diverse applications may benefit from an effective
remote detection and characterization of airborne aggregations of
particulates. For example, climate change studies have shown that
cloud effects and aerosol-cloud interactions (i.e. aerosol,
indirect effects) are among the largest uncertainties in
simulations of climate change. Elastic backscatter lidars are
highly sensitive instruments capable of providing profiles of
clouds, aerosols, and other particulates aggregation structures
within the atmosphere. An addition of polarization-sensitive
detection provides information pertaining to the phase of cloud
particulates and to the type of aerosol particulates. The U.S. DOE
Atmospheric Radiation Measurements (ARM) Program has deployed
eye-safe lidars for semi-autonomous operation at each of its
climate research facilities for over a decade. Recently,
polarization-sensitive lidar systems have been deployed by ARM
through straightforward modifications of pre-existing designs and
equipment.
[0004] Remote detection and stand-off characterization of
chemical/biological agents may be a decisive factor in early
warning chemical/biological systems allowing for improved
survivability of personnel in the battlefield and/or other targeted
or associated areas. One exemplary system incorporating a pulsed
lidar operating using visible light is described by Lee, et al,
"Micro Pulse lidar for Aerosol & Cloud Measurement", Advances
in Atmospheric Remote Sensing with lidar, pp. 7-10, A. Ansmann,
Ed., Springer Verlag, Berlin, 1997, while a near IR, is described,
for example, by Condatore, et al, "U.S. Army Soldier and Biological
Chemical Command Counter Proliferation Long Range--Biological
Standoff Detection System (CP LR BSDS)", Proceedings of SPIE, Vol.
3707, 1999. the entire contents of which are incorporated herein by
reference, have demonstrated the high sensitivity and long-range
(up to 50 km) capability to detect aerosol clouds. Consequently, an
aerosol lidar is a demonstrated technique for long-range detection
and characterization of bio-warfare aerosols. Furthermore, similar
lidar systems may be used for remote sensing and stand-off
detection of air polluting aggregations of particulates generated
by intentional. commercial,activities or accidentally released
particulate aggregations.
[0005] The polarization switching lidar devices for remote:
detection and characterization of airborne aggregation of
particulates in accordance with the present invention are
essentially sensitive to the polarization relative to a
predetermined plane of polarization. Therefore, any phase
retardation that contributes to the same relative angle of
polarization with respect to the predetermined plain of
polarization cannot be resolved and are considered identical. More
particularly, all phase retardation states having phase differences
("retardations") .DELTA..phi.=n.pi. radians (n=0, .+-.1, .+-.2,
.+-.3 . . . ) are considered substantially equal and inclusively
designated as a "zero retardation state", while all phase
retardation states-having phase differences ("retardations")
.DELTA..phi.=m.pi./2 radians (m=.+-.1, .+-.3, .+-.5 . . . ) are
considered substantially equal and inclusively designated as a
"quarter-wave retardation state" for the purposes of the further
recitations.
SUMMARY OF THE INVENTION
[0006] The present invention is directed to a polarization
switching lidar device for remote detection and characterization of
at least one airborne aggregation of particulates including a
source of a polarized pulsed laser light beam; a direction
controlling mirror arranged to reflect the polarized pulsed laser
light beam and redirect the reflected polarized pulsed laser light
beam; a polarizing beam splitter arranged to intersect the
reflected polarized pulsed laser light beam and to redirect a
portion of the reflected polarized pulsed laser light beam; an
actively controlled retarder arranged to intersect the redirected
portion of the reflected polarized pulsed laser light beam, and to
be controllably alternated between a zero retardation state and a
quarter-wave retardation state such that the transmitted portion of
the polarized pulsed laser light beam exiting the actively
controlled retarder is linearly polarized in a predetermined
direction when the actively controlled retarder is in the zero
retardation state, while the transmitted portion of the polarized
pulsed laser light beam exiting the actively controlled retarder is
circularly polarized in a predetermined rotational sense when the
actively controlled retarder is in the quarter-wave retardation
state; a directable (i.e. arranged to be Manually or automatically
specially oriented in at least one direction of interest in order
to observe a predetermined sets of space angles) telescoping
assembly arranged to intersect the transmitted portion of the
polarized pulsed laser light beam exiting the actively controlled
retarder and to controllably redirect the intersected polarized
pulsed laser light beam into a predetermined space angle while
collecting at least a portion of depolarized backscattered photons
from the scanned polarized pulse laser light beam backscattered by
the at least one airborne aggregations of particulates, and to
redirect the collected portion of depolarized backscattered photons
onto the polarizing beam splitter; an optical matcher arranged to
collect a fraction of backscattered photons exiting the polarizing
beam splitter and focus the collected fraction of depolarized
backscattered photons onto a photodetector arranged to generate at
least one electronic signal proportional to the collected portion
of depolarized backscattered photons.
[0007] In addition, another apparatus embodying the present
invention incorporates a polarization switching lidar device for
remote detection and characterization of at least one airborne
aggregation of particulates including a source of a polarized
pulsed laser light beam; a first actively controlled retarder
arranged to intersect the polarized pulsed laser light beam, to
transmit a portion of the polarized pulsed laser light beam, and to
be controllably alternated between a zero retardation state and a
quarter-wave retardation state such that the transmitted portion of
the polarized pulsed laser light beam exiting the first actively
controlled retarder 150 is linearly polarized in a predetermined
direction when the actively controlled retarder is in the zero
retardation state, while the transmitted portion of the polarized
pulsed laser light beam exiting the first actively controlled
retarder is circularly polarized in a predetermined rotational
sense when the first actively controlled retarder is in the
quarter-wave retardation state; a first directable telescoping
assembly arranged to intersect the transmitted portion of the
polarized pulsed laser light beam exiting the first actively
controlled retarder and to controllably redirect the intersected
polarized pulsed laser light beam into a predetermined space angle;
a second directable telescoping assembly arranged to collect at
least a portion of backscattered photons from the scanned polarized
pulse laser light beam backscattered by the at least one airborne
aggregations of particulates, and to redirect the collected portion
of backscattered photons along a detection optical path; a second
actively controlled retarder arranged along the detection optical
path to intersect the collected portion of backscattered photons,
to transmit a fraction of the collected portion of backscattered
photons, and to be controllably alternated between a zero
retardation state and a quarter-wave retardation state such that
the transmitted fraction of the collected portion of backscattered
photons exiting the second actively controlled retarder is linearly
polarized when the first actively controlled retarder is in the
zero retardation state, while the transmitted fraction of the
collected portion of backscattered photons exiting the second
actively controlled retarder is linearly polarized in a direction
perpendicular to the predetermined direction when the first
actively controlled retarder is in the quarter-wave retardation
state; a polarizer arranged to intersect the backscattered photons
exiting the second actively controlled retarder and to selectively
transmit only a part of the backscattered photons exiting the
second actively controlled retarder which is linearly polarized in
the direction perpendicular to the predetermined direction; an
optical matcher arranged to collect the transmitted part of the
backscattered photons exiting the polarizer and to focus the
transmitted part of the backscattered photons exiting the polarizer
onto a photodetector arranged to generate at least one electronic
signal proportional to the collected part of the backscattered
photons exiting the polarizer which is linearly polarized in the
direction perpendicular to the predetermined direction.
[0008] Furthermore, a method embodying the present invention
includes steps of generating a linearly polarized pulsed laser
light beam having a predetermined direction of linear polarization;
using at least one the actively controlled retarder, sequentially
controllably switching a polarization state of the polarized pulsed
laser light beam between a circularly polarized state polarized
into a predetermined rotational sense, when the at least one
actively controlled retarder is controllably switched into a
quarter-wave retardation state, and into a linearly polarized state
linearly polarized in a direction substantially equivalent to the
predefined direction of linear polarization when the at least one
actively controlled retarder is controllably switched into a zero
retardation state such that a transmitted portion of polarized
pulsed laser light beam exiting the at least one actively
controlled retarder is linearly polarized in the predetermined
polarization direction when the at least one actively controlled
retarder is in the zero retardation state while the transmitted
portion of polarized pulsed laser light beam exiting the at least
one actively controlled retarder is circularly polarized having the
predetermined rotational sense when the at least one actively
controlled retarder is in the quarter-wave retardation state;
scanning the transmitted portion of polarized pulsed laser light
beam exiting the actively controlled retarder by at least one
telescoping assembly arranged to intersect the transmitted portion
of polarized pulsed laser light beam exiting the actively
controlled retarder and controllably redirect the intersected
polarized pulsed laser light beam into a predetermined space angle
toward at least one airborne aggregation of particulates;
backscattering the scanned transmitted portion of the polarized
pulsed laser light beam sequentially polarized into the circularly
polarized state having the predetermined rotational sense and into
the linearly polarized state having the predetermined polarization
direction so that a fraction of photons scatters back from at least
one airborne aggregation of particulates such that the photons in
circularly polarized state having the predetermined rotational
sense acquire an opposite rotational sense of circular
polarization, while at least a fraction of photons polarized in the
predetermined linearly polarized state, when scattered back,
acquires a linear polarization state polarized in an orthogonal
direction relative to the predetermined direction of linear
polarization; collecting photons from the predetermined space angle
and redirecting the collected photons onto the actively controlled
retarder by the at least one telescoping assembly; sequentially
converting by the actively controlled retarder in the quarter-wave
retardation state the collected backscattered photons having the
circularly polarized state polarized in the opposite rotational
sense relative to-the rotational sense of the predetermined sense
of circular polarization into the linearly polarized state having
the polarization state polarized in an orthogonal direction
relative to the predetermined direction of linear polarization,
while transmitting the scattered back photons polarized in the
linear polarization state having orthogonal direction of linear
polarization relative to the predetermined direction of linear
polarization when the actively controlled retarder in the zero
retardation state, and redirecting the converted photons onto the
polarizing beam splitter; selectively separating the converted
photons collected sequentially onto the polarizing beam splitter by
transmitting only the linearly polarized photons having orthogonal
direction of linear polarization relative to the
predetermined-direction of linear polarization; optically matching
the transmitted linearly polarized photons having orthogonal
direction of linear polarization relative to the predetermined
direction of linear polarization using an optical matcher arranged
to collect at least a fraction of the transmitted linearly
polarized photons having orthogonal direction of linear
polarization relative to the predetermined direction of linear
polarization and focus the transmitted linearly polarized photons
having orthogonal direction of linear polarization relative to the
predetermined direction of linear polarization onto a photodetector
arranged to generate at least two electronic signals proportional
to the transmitted linearly polarized photons having orthogonal
direction of linear polarization relative to the predetermined
direction of linear polarization; and separating at least one
electrical signal generated during the quarter-wave retardation
state of the from the at least two electrical signals from the at
least another electrical signal generated during the zero
retardation state of the actively controlled retarder and storing
the separated signals into at least two dedicated memory
sections.
DETAILED DESCRIPTION OF THE DRAWINGS
[0009] The above and other embodiments, features, and aspects of
the present invention are considered in more detail in relation to
the following description of embodiments shown in the accompanying
drawings, in which:
[0010] FIG. 1 is an illustration of an exemplary embodiment of the
polarization switching lidar device according to the present
invention.
[0011] FIG. 2 is an illustration of an exemplary measurement
results from an embodiment of the polarization switching lidar
device according to the present invention.
[0012] FIG. 3 is an illustration of a different exemplary
embodiment of the polarization switching lidar device according to
the present invention.
[0013] FIG. 4 is an illustration of a flow chart diagram of
operation of an exemplary embodiment of the polarization switching
lidar device according to the present invention.
[0014] FIG. 5 is an illustration of additional exemplary
embodiments of the polarization switching lidar devices according
to the present invention.
DETAILED DESCRIPTION OF THE INVENTION
[0015] The invention summarized above may be better understood by
referring to the following description, which should be read in
conjunction with the accompanying drawings. This description of an
embodiment, set out below to enable one to build and use an
implementation of the invention, is not intended to limit the
invention, but to serve as a particular example thereof. Those
skilled in the art should appreciate that they may readily use the
conception and specific embodiments disclosed as a basis for
modifying or designing other methods and systems for carrying out
the same purposes of the present invention. Those skilled in the
art should also realize that such equivalent assemblies do not
depart from the spirit and scope of the invention in its broadest
form.
[0016] One exemplary embodiment of the polarization switching lidar
device 100 for remote detection and characterization of atmospheric
aggregation of particulates in accordance with the present
invention is represented schematically in FIG. 1. The exemplary
polarization switching lidar device includes a source 110 of a
polarized pulsed laser light beam 120 linearly polarized in a
predetermined direction of polarization 130 (for the illustrated
example in FIG. 1, having the direction of polarization 130
perpendicular to the plane of the FIG. 1). The source 110 of the
polarized pulsed laser light beam 120 may include a laser head 112
and a polarizer 116 arranged and oriented to define with sufficient
accuracy the predetermined direction of polarization 130. The laser
head 112 of the illustrated embodiment incorporates commercial
Photonics Industries International, Inc. Nd:YVO.sub.4 laser head
arranged to a pulse rate ranging from 1 kHz to 150 kHz. It should
be noted that a plethora of commercial or experimental lasers
including, but not limited to: laser diodes, fiber lasers,
diode-pumped solid-state lasers, and lamp-pumped solid-state
lasers, are known to the practitioners and may be arranged in
various pulse modes of operation (some exhibiting pulse length
shorter than 50 ns) and used in different embodiments of the
present invention.
[0017] The embodiment illustrated in FIG. 1 utilizes a direction
controlling mirror 135 arranged to reflect the polarized pulsed
laser light beam 120 and to redirect the reflected polarized pulsed
laser light beam 125 in the direction of a polarizing beam splitter
140 arranged to intersect the reflected polarized pulsed laser
light beam 125 and to redirect a portion of the reflected polarized
pulsed laser light beam 125 in the direction of an actively
controlled retarder 150. More particularly, the polarizing beam
splitter 140 of the illustrated embodiment is oriented such that
the reflected polarized pulsed laser light beam 125 linearly
polarized in predetermined direction of polarization 130 is
redirected while any component of the light beam 125 exhibiting
linear polarization substantially different from the predetermined
direction of polarization 130 is effectively absorbed in the
polarizing beam splitter 140 and/or associated supporting
structures.
[0018] The actively controlled retarder 150 is arranged to
intersect the redirected portion 145 of the reflected polarized
pulsed laser light beam 125, and to be controllably alternated
between a zero retardation state and a quarter-wave retardation
state by application of an appropriate control signal customarily
characterized by at least two distinct voltage levels.
[0019] In particular, an actively controlled retarder 150 of the
illustrated embodiment may be implemented so that during a
predetermined time period when the "lower level" voltage signal is
applied to a control input pin, no significant phase retardation is
added to the light traversing an active medium of the actively
controlled retarder 150, while when the "high level" voltage signal
is applied to the control input pin the actively controlled
retarder 150 behaves essentially as a quarter-wave plate causing a
quarter-wave (.DELTA..phi.=.pi./2) retardation of the phase of the
appropriately polarized traversing the active medium of the
actively controlled retarder 150. Consequently, for the example
illustrated schematically in FIG. 1, when the active medium of the
actively controlled retarder 150 is in the zero retardation state
(.DELTA..phi.=0), the polarized pulsed laser light beam exiting the
actively controlled retarder 150 is linearly polarized in the
predetermined direction 130, while the transmitted portion 155
exiting the actively controlled retarder 150 of the polarized
pulsed laser light beam 145 is circularly polarized in a
predetermined rotational sense 160 when the actively controlled
retarder 150 is in the quarter-wave retardation state and arranged
to have an optical axis oriented at 45.degree. relative to the
predetermine direction of liner polarization 130.
[0020] Many actively controlled retarders 150 (such as ones based
on Pockles cells technology) are known to change retardation states
during time intervals in order of 1 ns (e.g. KD*P Pockels Cells
available from Cleveland Crystals) and can be arranged to support
pulse operations having pulse length shorter than 50 ns.
[0021] Therefore, in the exemplary embodiment illustrated in FIG.
1, the polarized pulsed laser light beam 145 is essentially
polarized in the predetermine direction of liner polarization 130,
such that the transmitted portion 155 of the polarized pulsed laser
light beam 145 exiting the actively controlled retarder 150 remains
linearly polarized in the predetermine direction of liner
polarization 130 when the actively controlled retarder 150 is in
zero retardation state, while the transmitted portion 155 of the
polarized pulsed laser light beam 145 exiting the actively
controlled retarder 150 becomes circularly polarized in a
predetermined rotational sense 160 when the actively controlled
retarder 150 is in the quarter-wave retardation state.
[0022] The exemplary embodiment of the polarization switching lidar
device in FIG. 1 includes a directable telescoping assembly 162
arranged to intersect the transmitted portion 155 of the polarized
pulsed laser light beam 145 exiting the actively controlled
retarder 150 and to be controllably directable (i.e. to be manually
or automatically specially oriented in a direction of interest in
order to observe a predetermined sets of space angles) so as to
redirect the intersected transmitted portion 155 of the polarized
pulsed laser light beam 145 into the predetermined set of space
angles of interest, while collecting portions 163 or 164 of
depolarized backscattered photons from the scanned polarized pulse
laser light beam 165 backscattered by the at least one airborne
aggregation of particulates 166. The directable telescoping
assembly 162 is also arranged to redirect the collected portions
163 or 164 of depolarized backscattered photons onto the actively
controlled retarder 150 and further onto the polarizing the beam
splitter 140.
[0023] The directable telescoping assembly 162 of the particular
exemplary embodiment illustrated in FIG. 1 includes a scanning
telescope incorporating an internal scanner positioned between the
telescope principle optical elements is described in the co-pending
co-owned U.S. patent application Ser. No. 12/547,237, entitled:
TELESCOPE WITH A WIDE FIELD OF VIEW INTERNAL OPTICAL SCANNER, which
is here incorporated by reference in its entirety. As disclosed in
more details in the incorporated U.S. patent application Ser. No.
12/547,237, the directable telescope assembly 162 of the exemplary
embodiment is based on a classic Maksutov-Cassegrain telescope
reflector configuration (more particularly, Questar FR7 model
commercially obtained for example from Company. Seven Astro-Optics
Division of Montpelier, Md., and modified by the Sigma Space
Corporation to conform with the components of the disclosed
polarization switching lidar device in accordance to standard
optical engineering principles and practices.) It may be noted that
other telescope systems including for example Galilean, Keplerian,
Newtonian, Cassegrain, Maksutov-Cassegrain, Argunov-Cassegrain,
Ritchey-Chratien, Dall-Kirkham, Gregorian, Hershelian,
Schiefspiegler, and Yolo, telescope configuration or any
combination of the listed telescope configurations may be
integrated and used in various embodiments of the present
invention.
[0024] In addition, it may be discerned that different scanning
telescope devices incorporating a telescope and an external scanner
may be used in other embodiments of the polarization switching
lidar device in accordance with the present invention. For example,
a scanning telescope device having an external scanner is disclosed
in more details in the co-pending and co-owned U.S. patent
application Ser. No. 11/683,549, entitled: SCANNER/OPTICAL SYSTEM
FOR THREE-DIMENSIONAL LIDAR IMAGING AND POLARIMETRY, here also
incorporated by reference in its entirety.
[0025] It may be also noted that propagation of the scanned
polarized pulse laser light beam 165 through the atmosphere
containing negligible amount of scatterers results in substantially
no backscattered photons and no significant depolarization of the
scanned polarized pulse laser light beam 165 which remains either
linearly polarized in the predetermined direction of polarization
130 or in the predetermined rotational sense 160, as disclosed
above. In contrast, when the scanned polarized pulse laser light
beam 165 intersects at least one airborne aggregation of
particulates 166, the resulting interaction may increase
probabilities of backscatter. More particularly, it is known that,
when the airborne aggregation of particulates 166 includes a
significant concentrations of symmetric constituents (like droplets
of water or other liquids like acid or salts solutions or
suspensions) elastic backscattering processes may predominate
resulting in a geometric inversion of the circular polarization of
the backscattered photons from the predetermined rotational sense
160 of circular polarization into a circular polarization having an
opposite rotational sense 167 relative to the predetermined
rotational sense 160. Conversely, when the airborne aggregation of
particulates 166 includes a significant concentrations of
irregularly shaped solid particulates (like ice crystals or
particulates of sooth, smoke, industrially or naturally generated
dust particulates, solid particulates incorporating carbon, solid
particulates incorporating salt, mixtures and combinations of above
particulates etc.) the backscattering may result in an enhanced
depolarization of the scanned polarized pulse laser light beam 165
from the linearly, polarized in the predetermined direction of
polarization 130 into a linearly polarized in the direction of
polarization 168 which is perpendicular to the predetermined
direction of polarization 130.
[0026] Consequently, as the actively controlled retarder 150 of
polarization switching lidar device of the present invention
rapidly alternates between the zero retardation state
.DELTA..phi.=0 and the quarter-wave retardation state
.DELTA..phi.=.pi./2 (as controlled by a preprogrammed controller
170) causing alternations of polarization states of collected
backscattered photons between the linearly polarized state 168 and
circularly polarized state 167. As the directable telescoping
assembly 162 redirects the collected portions 163 or 164 of
depolarized backscattered photons onto the actively controlled
retarder 150 and further onto the polarizing the beam splitter 140,
the collected portion 164 traverses the actively controlled
retarder 162 as being in the quarter-wave retardation state, while
the collected portion 163 traverses the actively controlled
retarder 162 as being in the zero retardation state. Therefore, the
polarization states of both collected portions 163 and 164 of
interest are arranged to be in the state of the linearly polarized
in the direction of polarization 168 which is perpendicular to the
predetermined direction of polarization 130, and thus arranged to
traverse the polarization beam splitter 140 with minimal loss. In
opposition, a significant portion of undesirable "stray light",
diffusively reflected or scattered by impurities and imperfections
of the constituent parts of the polarization switching lidar
device, remain polarized predominantly in the predetermined
direction of polarization 130 and, ipso facto, filtered out by the
polarization beam splitter 140.
[0027] The exemplary embodiment illustrated in FIG. 1 features an
optical matcher 175 arranged to collect a fraction of the
transmitted portion 155 of backscattered photons exiting the
polarizing beam splitter and focus the collected fraction of
depolarized backscattered photons onto a photodetector 180 arranged
to generate at least one electronic signal proportional to the
collected portion of depolarized backscattered photons. The optical
matcher 175 of the illustrated exemplary embodiment is based on a
narrowband filter 177 arranged to narrowly transmit photons of
selected wavelength (such is the narrowband filter having central
wavelength at 532.07 nm and FWHM no greater than 0.15 nm, available
as a custom product from Barr Associates, Inc. of Westford, Mass.)
The incoming photons may be collimated using an collimating lens
178 (e.g. Plano-Convex Lens 6.0 mm Dia..times.9.0 mm focal length
commercially available from Edmund Optics of Barrington, N.J.) to
ensure narrowband performance of the narrowband filter 177, while
an additional lens 176 (e.g. Mounted Geltech Aspheric Lens,
AR-Coated: 350-700 nm, part number C230TME-A, from Thorlabs of
Newton, N.J.) may be used to match the filtered photons to the
photodetector 180 (e.g. Single Photon Counting Module
SPCM-AQR-14-FC commercially available from PerkinElmer's Marketing
and Marketing Communications of Salem, Mass.)
[0028] The photodetector 180 is arranged to generate at least one
electronic signal proportional to the collected portion of
depolarized backscattered photons which can be digitized and stored
into a dedicated memory 190. In the embodiment represented in FIG.
1 the memory 190 is controlled by the controller 170 so as to
generate at least two separate digital records of which at least
one is generated and stored during the time period when the
actively controlled retarder 150 is in the zero retardation state
(.DELTA..phi.=0) and at least another digital record is generated
and stored during the quarter-wave retardation state
(.DELTA..phi.=.pi./2) of the actively controlled retarder 150 (as
controlled by a preprogrammed controller 170). Therefore, at least
one digital record may be predominantly sensitive to the
backscattering from the aggregations irregularly shaped
particulates (when .DELTA..phi.=0), while at least another digital
record may be predominantly sensitive to the backscattering on the
aggregations of predominantly symmetric particulates (when
.DELTA..phi.=.pi./2). Thus, the polarization switching lidar
embodiment illustrated in FIG. 1 may exhibit a fundamental
simplicity of a "single beam" ("single channel") scattering device,
while the resulting digital records may enjoy enhanced
sensitivities usually associated with significantly more complex
multi-beam ("multichannel") lidar devices.
[0029] In a framework of a more concise theoretical consideration
of the lidar measuring sequence as described in the above
recitation, lidar backscattered signal can be considered to be
essentially incoherent and may be represented sufficiently
accurately as a 4-component Stokes vector and analyzed using
Mueller matrix calculus. Therefore, the lidar measurement sequence
may be symbolically represented as a sequence of. Mueller operators
acting on a initial polarization vector {right arrow over
(P)}.sub.S as:
{right arrow over
(P)}.sub.final=M.sub.LPHM.sub.LCR(.phi.,-45)M.sub.atmM.sub.LCR(.phi.,+45)-
M.sub.LPV{right arrow over (P)}.sub.S (Eq. 1)
where M.sub.LPV stands for the PBS acting as a linear polarizer
with axis aligned to the vertical, M.sub.LCR(.phi.,+45) stands for
the actively controlled retarder with retardation .phi. aligned
with fast axis at +45.degree. to vertical, M.sub.atm represents the
interaction with the atmosphere, M.sub.LCR(.phi.,-45) is again the
actively controlled retarder but now with fast axis aligned at
-45.degree. to vertical, and M.sub.LPH is the PBS now acting as a
linear polarizer with axis aligned horizontally. Note that the
angles are defined as positive clockwise while facing in the
direction of propagation. When the direction of propagation is
reversed for the returning light, the angles are also reversed.
Mueller matrices do not represent optical components so much as
optical interactions explaining why different Mueller matrices are
used to represent the same optical component. With the exception of
M.sub.atm, the other operators represent the actions of elementary
optical elements with known form.
[0030] The Mueller matrix for the atmosphere is, as well understood
in standard practice, a changing quantity and is a subject of
intense study [9-10]. For a common simple case of single scattering
on particles having a plane of symmetry or random orientation
(which includes spheres, randomly oriented ice crystals, and
horizontal plates) we benefit from substantial cancellation of
matrix elements based on symmetry arguments to obtain
M atm = a [ 1 0 0 0 0 1 - d 0 0 0 0 d - 1 0 0 0 0 2 d - 1 ] , ( Eq
. 2 ) ##EQU00001##
where a is proportional to the magnitude of the return signal and d
is indicative of the degree to which the return signal is
depolarized. For d=0, M.sub.atm is identical to Mueller matrix for
normal incidence on a perfect mirror.
[0031] Starting with {right arrow over (P)}.sub.S taken as linearly
polarized vertically, the equation Eq. 1 together with the equation
Eq. 2 yields final polarization vectors {right arrow over
(P)}.sub..perp., {right arrow over (P)}.sub..quadrature., {right
arrow over (P)}.sub.RH, and {right arrow over (P)}.sub.LH as.
P .fwdarw. .perp. = ( d / 2 d / 2 0 0 ) , P .fwdarw. .cndot. = ( 1
- d / 2 1 - d / 2 0 0 ) , P .fwdarw. RH = ( 1 - d d - 1 0 0 ) , P
.fwdarw. LH = ( d - d 0 0 ) . ( Eq . 3 ) ##EQU00002##
[0032] Several relevant depolarization ratios can be defined
as:
.delta. linear = P .fwdarw. .perp. ( 1 ) P .fwdarw. .cndot. ( 1 ) ,
.delta. circ = P .fwdarw. LH ( 1 ) P .fwdarw. RH ( 1 ) , and
.delta. MPL = P .fwdarw. .perp. ( 1 ) P .fwdarw. RH ( 1 ) . ( Eq .
4 ) ##EQU00003##
[0033] Combining Eq. 3 and Eq. 4 results in:
.delta. linear = d 2 - d , .delta. circ = d 1 - d , and .delta. MPL
= d 2 ( 1 - d ) . ( Eq . 5 ) ##EQU00004##
[0034] Equation Eq. 5 in combination with Eq. 3 leads to following
relationships:
.delta. linear = .delta. MPL .delta. MPL + 1 and .delta. circ . = 2
.times. .delta. MPL , or .delta. MPL = .delta. circ . 2 = .delta.
linear ( 1 - .delta. linear ) , ( Eq . 6 ) ##EQU00005##
[0035] which can be interpreted as consequences of lidar signal
power conservation, as may be expected.
[0036] One example of the results of measurements of the {right
arrow over (P)}.sub..perp.(.DELTA..phi.=.pi./2) and the {right
arrow over (P)}.sub..perp.(.DELTA..phi.=0) signals versus range
obtained from the exemplary embodiment of FIG. 1 is illustrated in
FIG. 2. On the horizontal axis range up to 15 km is shown. The
vertical axis shows range-square corrected signals, i.e. (total
backscatter signal-background signal)*range.sup.2. The units of the
range-square corrected signal are counts/microsecond*km.sup.2. The
solid trace 210 indicates the range-square corrected signal
resulting predominantly from the backscattering on the airborne
aggregation 166 of symmetric particulates corresponding to the
{right arrow over (P)}.sub..perp.(.DELTA..phi.=.pi./2), while the
dashed trace 220 indicates the range-Square corrected signal
resulting predominantly from the backscattering on the airborne
aggregation 16,6 of particulates generally lacking the spherical
symmetry corresponding to the {right arrow over
(P)}.sub..perp.(.DELTA..phi.=0)signal.
[0037] The particular measurements yielding results illustrated in
FIG. 2 are made for 60 seconds with the retardation state of the
actively controlled retarder alternating between the zero and the
quarter-wave retardation states. The range-square corrected signals
210 and 220 are accumulated in separate locations in the memory
190. The laser 112 of this exemplary embodiment has a pulse
repetition rate of 2500 Hz. Effectively, 30 seconds or
backscattered signals from 75,000 laser pulses are integrated in
each range-square corrected signal and displayed. Typical pulse
energy for this type of measurements is 6 microjoules. The range
resolution of 30 m is estimated.
[0038] As is seen in the range-square corrected signal 210 given in
a solid trace, a large backscatter is obtained from the primarily
spherical aggregates present in the lower atmosphere. The {right
arrow over (P)}.sub..perp.(.DELTA..phi.=0) backscatter,
proportional to the dashed trace 220, remains low at these ranges.
At the 4.5 and 8 km ranges, two cloud layers may be observed in
both signals 210 and 220. The backscatter from clouds is a strong
because of a relative increase of density of the scatterers, and
exhibits depolarization that is observed as the {right arrow over
(P)}.sub..perp.(.DELTA..phi.=0) backscatter due to the presence of
non-spherical ice crystals present in these clouds.
[0039] The signals 210 and 220 in the 0-2 km range exhibit
increase's with distance before reaching a peak and subsequently
falling off with range. This may be related to an instrument
function of geometric overlap, known to be a characteristic of many
lidars. The instrument overlap function normally corresponds to the
design features of the particular telescopes including size,
axis-to-axis distance between transmitter and receiver telescopes
(in cases of lidars having separate transmitter and receiver
units), the field of view the telescoping assembly designs,
etc.
[0040] An exemplary embodiment of a polarization switching lidar
device having aforementioned separate transmitter and receiver
telescope assemblies is shown schematically in FIG. 3. The
exemplary embodiments in FIG. 1 and FIG. 3 share several parts
arranged to performing corresponding operations as described above
regarding FIG. 1. Those shared parts are indicated in FIG. 3 using
same corresponding reference numerals as introduced in FIG. 1. For
example, the controller 170 in FIG. 3 is arranged to simultaneously
control and synchronize a transmitter actively controlled retarder
350 and a receiver actively controlled retarder 355 both having the
arrangement and the functions analogues to those of the actively
controlled retarder 150. Similarly, the controller 170 is arranged
to control the transmitting directable telescoping assembly 362 and
the transmitting directable telescoping assembly 365 to have
essentially overlapping fields of view in order to obtain
backscattering signals from predetermined volumes of the airborne
aggregation of particulates 166.
[0041] One notable difference between embodiments in FIGS. 1 and 3
is the replacement of the polarization beam splitter 140 with an
additional polarizer 340. As the function, of combining/separating
of the optical paths of transmitted and received laser beams
performed by the polarization beam splitter 140 is, by definition,
absent from the embodiment having separated transmitted and
received beam paths in FIG. 3, a simpler polarizer 340, generally
similar to the polarizer 116 but rotated by .pi./2 (relative to the
polarizer 116) may be sufficient for suppression of the "stray
light" discussed above regarding FIG. 1.
[0042] A method for remote detection and characterization of at
least one airborne aggregation of particulates utilizing a
polarization switching lidar device of the present invention is
generally related to the arrangements of the disclosed embodiments
schematically given in FIGS. 1 and 3. More particularly, the
principle steps of the method ere given in the flowchart in FIG. 4,
which closely corresponds to the exemplary embodiment in FIG. 1.
The method corresponding to the embodiment in FIG. 3, generally
differs only in details from the flowchart in FIG. 4. For example,
the steps 410 and 420 encompasses transmitting/receiving functions
using the single directable telescoping assembly, 162 and using the
transmitting directable telescoping assembly 362 and the receiving
directable telescoping assembly 365, but the step 43.0 generally
pertains to the embodiment illustrated in FIG. 1 as the embodiment
illustrated in FIG. 3 may include the polarizer 340 instead of the
polarization beam splitter 140.
[0043] Several embodiments of applications of the polarization
switching lidar device 100 are illustrated in FIG. 5. For example,
the lidar device 100 may be arranged on an flying vehicle 510 and
having field of view 520 arranged to detect clouds 566 and/or
atmospheric aggregations of particulates 166 at altitudes equal or
below the flight altitude (including the height h.sub.v relative to
a predetermined reference level 570 and the absolute altitude of
the reference surface 570) of the (over) flying vehicle 510.
[0044] In another embodiment illustrated in FIG. 5, the
polarization switching lidar device 100 is arranged on a surface
530 erected on a stationary or semi-stationary (transportable)
structure having altitude h relative to the reference surface 570.
Such an installation can accommodate the field of view 520 which
may include clouds 566 at altitudes above the altitude of the
surface 530 or low-altitude particulate aggregations 556
characteristic of altitudes below the average altitude of the
surface 530. In addition, such an embodiment can be arranged to
detect time-dependent characteristics of the aggregations. 166,
556, and/or 566 allowing for positive identification of sources 580
of the particulates of interest and determination of habitudes of
the characterized sources 580.
[0045] The present invention has been described with references to
the exemplary embodiments arranged for different applications.
While specific values, relationships, materials and components have
been set forth for purposes of describing concepts of the
invention, it will be appreciated by persons skilled in the art
that numerous variations and/or modifications may be made to the
invention as shown in the specific embodiments without departing
from the spirit or scope of the basic concepts and operating
principles of the invention as broadly described. It should be
recognized that, in the light of the above teachings, those skilled
in the art can modify those specifics without departing from the
invention taught herein. Having now fully set forth the preferred
embodiments and certain modifications of the concept. underlying
the present invention, various other embodiments as well as certain
variations and modifications of the embodiments herein shown and
described will obviously occur to those skilled in the art upon
becoming familiar with such underlying concept. It is intended to
include all such modifications, alternatives and other embodiments
insofar as they come within the scope of the appended claims or
equivalents thereof. It should be understood, therefore, that the
invention may be practiced otherwise than as specifically set forth
herein. Consequently, the present embodiments are to be considered
in all respects as illustrative and not restrictive.
* * * * *