CN114843796A - Broadband polarization reconfigurable array antenna - Google Patents
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
- H01Q21/061—Two dimensional planar arrays
- H01Q21/062—Two dimensional planar arrays using dipole aerials
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
- H01Q15/24—Polarising devices; Polarisation filters
- H01Q15/242—Polarisation converters
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/0006—Particular feeding systems
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q23/00—Antennas with active circuits or circuit elements integrated within them or attached to them
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
- H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
- H01Q3/34—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means
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- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及天线技术领域，具体为一种宽带极化可重构阵列天线。The invention relates to the technical field of antennas, in particular to a broadband polarization reconfigurable array antenna.
背景技术Background technique
无线通信技术的快速发展对系统需求提出了更高要求，传统的单功能天线并不能很好的满足当前的需要，并成为制约系统性能发展的瓶颈。可重构天线的提出和发展给这些问题提供了很好的解决方案。可重构天线可以通过频率复用来增加系统的容量，并且能够解决通信中的极化失配的问题，从而提高通信质量。The rapid development of wireless communication technology puts forward higher requirements for system requirements. Traditional single-function antennas cannot meet current needs well, and become a bottleneck restricting the development of system performance. The proposal and development of reconfigurable antennas provide a good solution to these problems. The reconfigurable antenna can increase the capacity of the system through frequency reuse, and can solve the problem of polarization mismatch in communication, thereby improving the communication quality.
由于现代单层PCB工艺和金属3D打印技术十分成熟，在不是十分高的频段内，加工精度也十分有保证，同时加工的产品可以拥有低轮廓、小体积、高集成度的特性，有利于天线的大规模生产与应用。因此，使用单层PCB工艺和金属3D打印技术相结合的极化可重构磁电耦极子阵列天线在宽带、高增益以及降低成本上都有很现实的意义。Since the modern single-layer PCB technology and metal 3D printing technology are very mature, the processing accuracy is also very guaranteed in the frequency band that is not very high. At the same time, the processed products can have the characteristics of low profile, small volume and high integration, which is beneficial to the antenna. mass production and application. Therefore, the polarization reconfigurable magnetic dipole array antenna using the combination of single-layer PCB process and metal 3D printing technology has practical significance in terms of broadband, high gain and cost reduction.
目前，现有极化可重构阵列天线技术中，所需的开关元件数目随着阵列规模的扩大会不断增多，一方面必然导致产品成本的提升，另外一方面开关元件的增多会增加偏置电路的复杂度，从而导致系统稳定性变弱。At present, in the existing polarization reconfigurable array antenna technology, the number of required switching elements will continue to increase with the expansion of the array scale. On the one hand, it will inevitably lead to an increase in product cost. The complexity of the circuit, which leads to the weakening of the system stability.
发明内容SUMMARY OF THE INVENTION
(一)解决的技术问题(1) Technical problems solved
针对现有技术的不足，本发明提供了一种宽带极化可重构阵列天线，具备通过馈电网络中引入两组宽带可调移相器，与各单元天线进行集成化设计，与一般极化可重构阵列天线相比，具有稳定的增益、宽带宽、结构简单，在不增加开关元件和偏置电路复杂度的情况下，易于开展至更大阵列规模等优点，解决了现有极化可重构阵列天线技术中，所需的开关元件数目随着阵列规模的扩大会不断增多，导致产品成本的提升以及开关元件的增多会增加偏置电路的复杂度，导致系统稳定性变弱的问题。In view of the deficiencies of the prior art, the present invention provides a broadband polarized reconfigurable array antenna, which has the capability of introducing two sets of broadband adjustable phase shifters into the feed network, and performing integrated design with each unit antenna, which is different from the general polarized array antenna. Compared with the reconfigurable reconfigurable array antenna, it has the advantages of stable gain, wide bandwidth, simple structure, and easy to expand to a larger array scale without increasing the complexity of switching elements and bias circuits, which solves the problem of existing polar arrays. In the reconfigurable reconfigurable array antenna technology, the number of required switching elements will continue to increase with the expansion of the array scale, resulting in an increase in product cost and an increase in switching elements, which will increase the complexity of the bias circuit, resulting in weaker system stability. The problem.
(二)技术方案(2) Technical solutions
为实现上述的目的，本发明提供如下技术方案：一种宽带极化可重构阵列天线，包括介质基片和四个单元天线，所述介质基片的上表面设有金属接地层，四个所述单元天线均设置在金属接地层上组成一维线阵，所述金属接地层上设有耦合缝隙；In order to achieve the above purpose, the present invention provides the following technical solutions: a broadband polarization reconfigurable array antenna, comprising a dielectric substrate and four element antennas, the upper surface of the dielectric substrate is provided with a metal ground layer, four The unit antennas are all arranged on the metal ground layer to form a one-dimensional line array, and the metal ground layer is provided with a coupling slot;
所述介质基片的下表面设有微带线层，所述微带线层上还设有两路直流偏置电路，所述介质基片通过微带线层连接有馈电机构，所述馈电机构用于对单元天线进行馈电，并同时控制对单元天线施加不同的激励相位，以产生不同的极化状态。The lower surface of the dielectric substrate is provided with a microstrip line layer, and the microstrip line layer is also provided with two DC bias circuits, the dielectric substrate is connected with a feeding mechanism through the microstrip line layer, and the The feeding mechanism is used to feed the unit antenna, and at the same time control to apply different excitation phases to the unit antenna to generate different polarization states.
优选的，所述馈电机构包括宽带90°可调移相器、宽带180°可调移相器、一分二等幅度等相位功率分配器和两个一分四等幅度等相位功率分配器，四个所述单元天线均设置有两个正交馈电端口，并分别与一分四等幅度等相位功率分配器的四个输出分支相连，两个所述一分四等幅度等相位功率分配器的输入端分别与宽带90°可调移相器和宽带180°可调移相器相连，所述宽带90°可调移相器和宽带180°可调移相器分别与一分二等幅度等相位功率分配器的两个输出分支相连。Preferably, the feeding mechanism includes a
优选的，所述一分四等幅度等相位功率分配器的四个输出分支分别馈电于每个单元天线所对应的馈电端口，使各个单元天线对应馈电端口的激励相位保持一致。Preferably, the four output branches of the one-to-four equal-amplitude equal-phase power divider are respectively fed to the feed ports corresponding to each unit antenna, so that the excitation phases of the corresponding feed ports of each unit antenna are consistent.
优选的，所述单元天线由四个金属磁电耦极子组成，且金属磁电耦极子作为辐射器，四个所述金属磁电耦极子等距设置并与耦合缝隙相对应，所述单元天线设置有的两个正交馈电端口通过正交U型微带线对耦合缝隙进行馈电，两个所述正交U型微带线交界处均采用过桥结构。Preferably, the unit antenna is composed of four metal magnetoelectric dipoles, and the metal magnetoelectric dipoles are used as radiators. The two orthogonal feeding ports provided in the unit antenna feed the coupling slot through orthogonal U-shaped microstrip lines, and a bridge structure is adopted at the junction of the two orthogonal U-shaped microstrip lines.
优选的，所述宽带90°可调移相器和宽带180°可调移相器用于控制各个单元天线对应的正交馈电端口的激励相位，仅通过两路直流偏置电路即可提供四种不同的相位组合，形成多种不同的极化波。Preferably, the
(三)有益效果(3) Beneficial effects
与现有技术相比，本发明提供了一种宽带极化可重构阵列天线，具备以下有益效果：Compared with the prior art, the present invention provides a broadband polarization reconfigurable array antenna, which has the following beneficial effects:
1、本发明在使用的时候，利用传统的PCB或LTCC工艺以及3D打印技术来实现制作阵列天线，且整个阵列天线主要由金属磁电耦极子和微带线层组成，通过在微带线层设置两个一分四等幅度等相位功率分配器、一个宽带90°可调移相器、一个宽带180°可调移相器和一个一分二等幅度等相位功率分配，每个单元天线设置有两个正交馈电端口，并分别与一分四等幅度等相位功率分配器的四个输出分支相连，两个一分四等幅度等相位功率分配器的输入端分别与宽带90°可调移相器、宽带180°可调移相器相连，宽带90°可调移相器和宽带180°可调移相器分别与一分二等幅度等相位功率分配器11的两个输出分支相连，进而实现利用宽带90°可调移相器和宽带180°可调移相器控制各个单元天线对应端口的激励相位，改变阵列天线的工作极化状态。1. When the present invention is in use, the traditional PCB or LTCC process and 3D printing technology are used to realize the fabrication of the array antenna, and the entire array antenna is mainly composed of metal magnetoelectric dipoles and microstrip line layers. The layer is provided with two equal-phase power dividers of one point and four equal amplitudes, one
2、该阵列天线仅通过两路直流偏置电路改变宽带90°可调移相器和宽带180°可调移相器的状态实现不同的工作极化，满足较好的极化特性、较好的驻波特性以及较宽的工作带宽，同时偏置电路结果简单、易于拓展至更大的阵列，且无需增加额外开关元件和偏置电路复杂度，仅仅需要为更大阵列规模设计出相应的一分多等幅度等相位功率分配器即可。2. The array antenna only changes the state of the
附图说明Description of drawings
图1为本发明提出的一种宽带极化可重构阵列天线的结构图；1 is a structural diagram of a broadband polarization reconfigurable array antenna proposed by the present invention;
图2为本发明提出的一种宽带极化可重构阵列天线中介质基片上金属接地层的结构示意图；2 is a schematic structural diagram of a metal ground layer on a dielectric substrate in a broadband polarization reconfigurable array antenna proposed by the present invention;
图3为本发明提出的一种宽带极化可重构阵列天线中介质基片上微带线层的结构示意图；3 is a schematic structural diagram of a microstrip line layer on a dielectric substrate in a broadband polarization reconfigurable array antenna proposed by the present invention;
图4为本发明提出的一种宽带极化可重构阵列天线中金属化通孔的结构示意图；4 is a schematic structural diagram of a metallized through hole in a broadband polarization reconfigurable array antenna proposed by the present invention;
图5为本发明提出的一种宽带极化可重构阵列天线工作时左旋圆极化状态阵列天线仿真和测试的回波损耗；5 is the return loss of the left-handed circular polarization state array antenna simulation and test when the broadband polarization reconfigurable array antenna proposed by the present invention works;
图6为本发明提出的一种宽带极化可重构阵列天线工作时右旋圆极化状态阵列天线仿真和测试的回波损耗；6 is the return loss of the simulation and test of the array antenna in the right-handed circular polarization state when the broadband polarization reconfigurable array antenna proposed by the present invention works;
图7为本发明提出的一种宽带极化可重构阵列天线工作时X-线极化状态阵列天线仿真和测试的回波损耗；7 is the return loss of the X-line polarization state array antenna simulation and test when the broadband polarization reconfigurable array antenna proposed by the present invention is working;
图8为本发明提出的一种宽带极化可重构阵列天线工作时Y-线极化状态阵列天线仿真和测试的回波损耗；8 is the return loss of the Y-linear polarization state array antenna simulation and test when the broadband polarization reconfigurable array antenna proposed by the present invention works;
图9为本发明提出的一种宽带极化可重构阵列天线工作时左旋圆极化状态阵列天线在频率3.25GHz时实测归一化增益方向图；FIG. 9 is a normalized gain pattern measured at a frequency of 3.25 GHz when the left-handed circularly polarized array antenna proposed by the present invention is in operation;
图10为本发明提出的一种宽带极化可重构阵列天线工作时为右旋圆极化状态阵列天线在频率3.25GHz时实测归一化增益方向图；Fig. 10 is a kind of broadband polarization reconfigurable array antenna proposed by the present invention when working, the measured normalized gain pattern of the array antenna in a right-handed circular polarization state at a frequency of 3.25 GHz;
图11为本发明提出的一种宽带极化可重构阵列天线工作时X-线极化状态阵列天线在频率3.25GHz时实测归一化增益方向图；11 is a pattern of normalized gain measured at a frequency of 3.25 GHz for the X-line polarization state array antenna when the broadband polarization reconfigurable array antenna proposed by the present invention is working;
图12为本发明提出的一种宽带极化可重构阵列天线工作时为Y-线极化状态阵列天线在频率3.25GHz时实测归一化增益方向图；12 is a pattern of normalized gain measured when the broadband polarization reconfigurable array antenna proposed by the present invention is a Y-linear polarization state array antenna at a frequency of 3.25 GHz when working;
图13为本发明提出的一种宽带极化可重构阵列天线工作时为左旋圆极化状态阵列天线在法向方向上实测增益随频率的变化关系图；13 is a graph showing the variation of the measured gain with frequency in the normal direction of the array antenna in a left-handed circularly polarized state during operation of a broadband polarization reconfigurable array antenna proposed by the present invention;
图14为本发明提出的一种宽带极化可重构阵列天线工作时为右旋圆极化状态阵列天线在法向方向上实测增益随频率的变化关系图；14 is a graph showing the variation of the measured gain with frequency in the normal direction of the array antenna in a right-handed circularly polarized state during operation of a broadband polarization reconfigurable array antenna proposed by the present invention;
图15为本发明提出的一种宽带极化可重构阵列天线工作时为X-线极化状态阵列天线在法向方向上实测增益随频率的变化关系图；15 is a graph of the variation relationship between the measured gain and frequency of the array antenna in the normal direction when the broadband polarization reconfigurable array antenna proposed by the present invention is in an X-line polarization state;
图16为本发明提出的一种宽带极化可重构阵列天线工作时为Y-线极化状态阵列天线在法向方向上实测增益随频率的变化关系图。FIG. 16 is a graph showing the variation of the measured gain with frequency in the normal direction of the array antenna in the Y-linear polarization state when the broadband polarization reconfigurable array antenna proposed by the present invention is operating.
图中：1、介质基片；2、金属接地层；3、耦合缝隙；4、金属磁电耦极子；5、单元天线；6、一分四等幅度等相位功率分配器；7、直流偏置电路；8、正交U型微带线；9、宽带180°可调移相器；10、宽带90°可调移相器；11、一分二等幅度等相位功率分配器；12、微带线层。In the figure: 1. Dielectric substrate; 2. Metal ground layer; 3. Coupling slot; 4. Metal magnetoelectric coupler; 5. Unit antenna; 6. One-quarter equal-amplitude equal-phase power divider; Bias circuit; 8. Quadrature U-shaped microstrip line; 9.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
实施例：Example:
参照附图1-4,一种宽带极化可重构阵列天线，包括介质基片1和四个单元天线5，介质基片1的上表面设有金属接地层2，四个单元天线5均设置在金属接地层2上组成一维线阵，金属接地层2上设有耦合缝隙3，单元天线5由四个金属磁电耦极子4组成，且金属磁电耦极子4作为辐射器，四个金属磁电耦极子4等距设置并与耦合缝隙3相对应，单元天线5设置有的两个正交馈电端口通过正交U型微带线8对耦合缝隙3进行馈电，两个正交U型微带线8交界处均采用过桥结构；With reference to accompanying drawing 1-4, a kind of broadband polarization reconfigurable array antenna, comprises
介质基片1的下表面设有微带线层12，微带线层12上还设有两路直流偏置电路7，介质基片1通过微带线层12连接有馈电机构，馈电机构用于对单元天线5进行馈电，并同时控制对单元天线5施加不同的激励相位，以产生不同的极化状态。The lower surface of the
馈电机构包括宽带90°可调移相器10、宽带180°可调移相器9、一分二等幅度等相位功率分配器11和两个一分四等幅度等相位功率分配器6，四个单元天线5均设置有两个正交馈电端口，并分别与一分四等幅度等相位功率分配器6的四个输出分支相连，两个一分四等幅度等相位功率分配器6的输入端分别与宽带90°可调移相器10和宽带180°可调移相器9相连，宽带90°可调移相器10和宽带180°可调移相器9分别与一分二等幅度等相位功率分配器11的两个输出分支相连，一分四等幅度等相位功率分配器6的四个输出分支分别馈电于每个单元天线5对应的馈电端口，使各个单元天线5对应馈电端口的激励相位保持一致，宽带90°可调移相器10和宽带180°可调移相器9用于控制各个单元天线5对应的正交馈电端口的激励相位，仅通过两路直流偏置电路7即可提供四种不同的相位组合，形成多种不同的极化波，即左旋圆极化、右旋圆极化、X-线极化和Y-线极化。The feeding mechanism includes a
本发明在使用的时候，利用传统的PCB或LTCC工艺以及3D打印技术来实现制作阵列天线，且整个阵列天线主要由金属磁电耦极子4和微带线层12组成，通过在微带线层12设置两个一分四等幅度等相位功率分配器6、一个宽带90°可调移相器10、一个宽带180°可调移相器9和一个一分二等幅度等相位功率分配器11，每个单元天线5设置有两个正交馈电端口，并分别与一分四等幅度等相位功率分配器6的四个输出分支相连，两个一分四等幅度等相位功率分配器6的输入端分别与宽带90°可调移相器10、宽带180°可调移相器9相连，宽带90°可调移相器10和宽带180°可调移相器9分别与一分二等幅度等相位功率分配器11的两个输出分支相连，进而实现利用宽带90°可调移相器10和宽带180°可调移相器9控制各个单元天线5对应端口的激励相位，改变阵列天线的工作极化状态，同时仅通过两路直流偏置电路7改变宽带90°可调移相器10和宽带180°可调移相器9的状态实现不同的工作极化，满足较好的极化特性、较好的驻波特性以及较宽的工作带宽，同时偏置电路结果简单、易于拓展至更大的阵列，且无需增加额外开关元件和偏置电路复杂度，仅仅需要为更大阵列规模设计出相应的一分多等幅度等相位功率分配器即可，如设置8个单元天线5，需要设计出一分八等幅度等相位功率分配器。When the present invention is in use, the traditional PCB or LTCC process and 3D printing technology are used to realize the fabrication of the array antenna, and the entire array antenna is mainly composed of the metal magnetic dipole 4 and the
基于本发明思想，利用PCB工艺和3D打印技术制作宽带极化可重构阵列天线，并进行相关测试：图5为左旋圆极化状态阵列天线仿真和测试的回波损耗；图6为右旋圆极化状态阵列天线仿真和测试的回波损耗；图7为X-线极化状态阵列天线仿真和测试的回波损耗；图8为Y-线极化状态阵列天线仿真和测试的回波损耗；图9为左旋圆极化状态阵列天线在频率3.25GHz时实测归一化增益方向图；图10为右旋圆极化状态阵列天线在频率3.25GHz时实测归一化增益方向图；图11为X-线极化状态阵列天线在频率3.25GHz时实测归一化增益方向图；图12为Y-线极化状态阵列天线在频率3.25GHz时实测归一化增益方向图；图13为左旋圆极化状态阵列天线在法向方向上实测增益随频率的变化关系图；图14为右旋圆极化状态阵列天线在法向方向上实测增益随频率的变化关系图；图15为X-线极化状态阵列天线在法向方向上实测增益随频率的变化关系图；图16为Y-线极化状态阵列天线在法向方向上实测增益随频率的变化关系图。测试表明，该阵列天线具有四种不同的极化状态：左旋圆极化、右旋圆极化、X-线极化和Y-线极化，同时满足较好的极化特性，较好的驻波特性，较宽的工作带宽，且增益波动小、实现简单，易于拓展至更大的阵列天线，无需额外增加开关元器件和偏置电路的复杂度。Based on the idea of the present invention, use PCB technology and 3D printing technology to fabricate a broadband polarized reconfigurable array antenna, and carry out related tests: Figure 5 shows the return loss of the left-handed circular polarization state array antenna simulation and test; Figure 6 is a right-handed circular polarization state array antenna. The return loss of the array antenna simulation and test in the circular polarization state; Figure 7 is the return loss of the X-linear polarization state array antenna simulation and test; Figure 8 is the return loss of the Y-line polarization state array antenna simulation and test Loss; Figure 9 is the measured normalized gain pattern of the left-handed circularly polarized state array antenna at a frequency of 3.25GHz; Figure 10 is the measured normalized gain pattern of the right-handed circularly polarized state array antenna at a frequency of 3.25GHz; Figure 11 is the measured normalized gain pattern of the X-linear polarization state array antenna at a frequency of 3.25 GHz; Figure 12 is the measured normalized gain pattern of the Y-linear polarization state array antenna at a frequency of 3.25 GHz; Figure 14 shows the relationship between measured gain and frequency in the normal direction of the array antenna with right-handed circular polarization in the normal direction; Figure 15 is X - The graph of the variation of the measured gain with frequency in the normal direction of the linearly polarized array antenna; Figure 16 is the graph of the variation of the measured gain with frequency in the normal direction of the Y-linearly polarized array antenna. Tests show that the array antenna has four different polarization states: left-hand circular polarization, right-hand circular polarization, X-line polarization and Y-line polarization, and at the same time, it satisfies good polarization characteristics. Standing wave characteristics, wide operating bandwidth, small gain fluctuation, simple implementation, easy to expand to larger array antennas, no need to increase the complexity of switching components and bias circuits.
需要说明的是，术语“包括”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个…”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that the term "comprising" or any other variation thereof is intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also not expressly listed Other elements, or elements that are inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.
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