Disclosure of Invention
The invention provides a method and a device for testing and optimizing the performance of an intelligent antenna, which are used for solving the problems that the requirement on test site conditions is strict and the beam forming effect and the corresponding weight suitable for an external field cannot be accurately obtained in the intelligent antenna testing process in the prior art
The embodiment of the invention provides a method for testing and optimizing the performance of an intelligent antenna, which comprises the following steps:
calibrating each channel of the mounted intelligent antenna;
according to the target performance parameters of the intelligent antenna, setting a beam forming weight value for each channel of the intelligent antenna;
obtaining test signals received by a test terminal at each test point, wherein the test points are determined according to the installation position of the intelligent antenna;
obtaining actual measurement performance parameters of the intelligent antenna according to the test signals;
and comparing and analyzing the target performance parameters and the actual measurement performance parameters, adjusting the beam forming weight of each channel of the intelligent antenna according to the comparison result, and returning to the step of acquiring the test signals received by the test terminal at each test point until the actual measurement performance parameters and the target performance parameters meet preset conditions.
Preferably, the performing a beamforming weight setting on each channel of the smart antenna according to the target performance parameter of the smart antenna includes:
searching a beam forming table according to the target performance parameter to obtain a beam forming weight of the intelligent antenna;
after the measured performance parameter and the target performance parameter meet a preset condition, the method further comprises the following steps:
and determining a corresponding target beamforming weight when the target performance parameter and the actual measurement performance parameter meet a preset condition, and updating the beamforming table according to the target beamforming weight.
Preferably, the obtaining the measured performance parameters of the smart antenna according to the test signals includes:
analyzing the test signals received by the test terminal at each test point, and fitting an antenna directional diagram of the intelligent antenna, wherein the antenna directional diagram comprises a horizontal directional diagram and a vertical directional diagram;
and determining the actually measured performance parameters of the intelligent antenna according to the antenna directional diagram.
Preferably, the determining the test point according to the installation position of the smart antenna includes:
determining the normal direction of the intelligent antenna, and determining the ground plane position corresponding to the installation position of the intelligent antenna as a test origin;
determining a test middle point, wherein the test middle point is a test point which is along the normal direction and has a distance H/tan (theta) from the test origin, theta is a downward inclination angle of the intelligent antenna, and H is an installation height of the intelligent antenna relative to a ground plane;
selecting a plurality of vertical test points in the front and at the back of the vertical test intermediate point along the normal direction according to a first step length by taking the test intermediate point as the vertical test intermediate point;
determining a horizontal test circle by taking the test origin as an origin and taking H/tan (theta) as a radius; and selecting a plurality of horizontal test points on the horizontal test circle according to the second step length by taking the test middle point as a horizontal test middle point.
Preferably, the measured performance parameters include any one or a combination of the following:
a downtilt angle, a beam width of the horizontal main beam, a beam width of the vertical main beam, a sidelobe suppression ratio of the horizontal main beam, a sidelobe suppression ratio of the vertical main beam.
The embodiment of the invention also provides a device for testing and optimizing the performance of the intelligent antenna, which comprises:
a calibration module: the intelligent antenna is used for calibrating each channel of the installed intelligent antenna;
setting a module: the intelligent antenna is used for setting a beam forming weight value of each channel of the intelligent antenna according to the target performance parameter of the intelligent antenna;
a test module: the test point is used for obtaining test signals received by the test terminal at each test point, and the test points are determined according to the installation position of the intelligent antenna;
a processing module: obtaining actual measurement performance parameters of the intelligent antenna according to the test signals; and comparing and analyzing the target performance parameters and the actual measurement performance parameters, adjusting the beam forming weight of each channel of the intelligent antenna according to the comparison result, and returning to the test module to execute the step of acquiring the test signals received by the test terminal at each test point until the actual measurement performance parameters and the target performance parameters meet preset conditions.
Preferably, the setting module is specifically configured to:
searching a beam forming table according to the target performance parameter to obtain a beam forming weight of the intelligent antenna;
the processing module is further configured to:
and determining a corresponding target beamforming weight when the target performance parameter and the actual measurement performance parameter meet a preset condition, and updating the beamforming table according to the target beamforming weight.
Preferably, the processing module is specifically configured to:
analyzing the test signals received by the test terminal at each test point, and fitting an antenna directional diagram of the intelligent antenna, wherein the antenna directional diagram comprises a horizontal directional diagram and a vertical directional diagram;
and determining the actually measured performance parameters of the intelligent antenna according to the antenna directional diagram.
Preferably, the test module is further configured to:
determining the normal direction of the intelligent antenna, and determining the ground plane position corresponding to the installation position of the intelligent antenna as a test origin;
determining a test middle point, wherein the test middle point is a test point which is along the normal direction and has a distance H/tan (theta) from the test origin, theta is a downward inclination angle of the intelligent antenna, and H is an installation height of the intelligent antenna relative to a ground plane;
selecting a plurality of vertical test points in the front and at the back of the vertical test intermediate point along the normal direction according to a first step length by taking the test intermediate point as the vertical test intermediate point;
determining a horizontal test circle by taking the test origin as an origin and taking H/tan (theta) as a radius; and selecting a plurality of horizontal test points on the horizontal test circle according to the second step length by taking the test middle point as a horizontal test middle point.
Preferably, the measured performance parameters include any one or a combination of the following:
a downtilt angle, a beam width of the horizontal main beam, a beam width of the vertical main beam, a sidelobe suppression ratio of the horizontal main beam, a sidelobe suppression ratio of the vertical main beam.
The embodiment of the invention provides a method and a device for testing and optimizing the performance of an intelligent antenna, which comprises the steps of firstly calibrating each channel of the intelligent antenna after installation; according to the target performance parameters of the intelligent antenna, setting a beam forming weight value for each channel of the intelligent antenna; and then obtaining test signals received by the test terminal at each test point, obtaining actual measurement performance parameters of the intelligent antenna according to each test signal, comparing and analyzing the target performance parameters and the actual measurement performance parameters, and adjusting the beam forming weight of each channel of the intelligent antenna according to the comparison result. According to the embodiment of the invention, the optimal coverage effect of the beamforming which accords with the actual environment of the external field is accurately obtained by optimizing the beamforming weight coefficient, and the workload of manual intervention and engineering debugging of the beamforming optimization test is reduced.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The intelligent antenna provided by the embodiment of the invention is a bidirectional antenna installed on a base station site, obtains the directivity through a group of fixed antenna units with programmable electronic phase relation, and can simultaneously obtain the direction characteristics of each link between the base station and the mobile station. Usually, the smart antenna includes three components, namely an antenna array for realizing signal space oversampling, a beam forming network for weighting and combining the outputs of the array elements, and a control system for recombining the weights. In mobile communication applications, in order to facilitate analysis, side lobe control and DOA (Direction Of Arrival) estimation, an antenna array generally adopts a uniform linear array or a uniform circular array; in addition, the weight is calculated by selecting rules and algorithms according to the signal environment through the control system.
An embodiment of the present invention provides a method for testing and optimizing performance of an intelligent antenna, and as shown in fig. 1, a flow diagram of the method for testing and optimizing performance of an intelligent antenna provided in an embodiment of the present invention includes:
step S101: and calibrating each channel of the mounted intelligent antenna.
Specifically, first, an installation position of the smart antenna to be tested needs to be selected, and then base station fixing and smart antenna installation are performed, where the installation mode may include a horizontal mode and a vertical mode.
In order to meet the selection requirements of test points in different beam forming directions, the point selection and the height of the installation position ensure that the intelligent antenna covers an open test area, and no other terminal except a test terminal exists in the area to be tested, or other terminals are in a standby service-initiating-free state.
Further, in order to ensure that the beamforming weight coefficient of the smart antenna to be tested is valid, after the smart antenna is installed and before the beamforming weight coefficient is configured, channel calibration needs to be performed on all the radio frequency channel transmit-receive links of the smart antenna to be tested, the calibration includes amplitude and phase calibration, whether the operation of each radio frequency channel is normal can be checked through the calibration, and the amplitude and the phase between all the channels can be adjusted to be within a target performance index range.
Specifically, the calibration method is selected differently according to different standards of the smart antenna application system to be tested and the requirements of the beam forming performance index. For narrow-band signals, calibrating the signal amplitude and phase of the carrier central frequency point of each channel of the intelligent antenna to be tested to keep consistent; for broadband signals, the carrier waves of all channels of the intelligent antenna to be calibrated keep consistent in amplitude and phase within the effective bandwidth. The consistency of amplitude and phase among channels is ensured through multi-channel calibration.
Step S102: and according to the target performance parameters of the intelligent antenna, setting the beam forming weight of each channel of the intelligent antenna.
Specifically, after all radio frequency channels of the smart antenna to be tested are subjected to channel calibration, a beam forming function of the smart antenna to be tested is started, then, beam forming weight configuration is performed on each channel of the smart antenna according to target performance parameters of the smart antenna, and it is ensured that the beam forming weight of each channel can be independently modified and take effect.
Further, the target performance parameters include a frequency point, a target downtilt angle, a beam width of the target horizontal main beam, a beam width of the target vertical main beam, a sidelobe suppression ratio of the target horizontal main beam, a sidelobe suppression ratio of the target vertical main beam, and the like. Specifically, according to parameters such as frequency points and downtilt in the target performance parameters, a beamforming table is searched to obtain beamforming weights of each channel of the smart antenna, and the beamforming weights of each channel are configured to take effect.
It should be noted that, in the embodiment of the present invention, the beamforming weights of each channel of the smart antenna may be configured through the control system of the base station, and the weights may also be configured remotely through the test terminal, which is not limited herein. In addition, the effective and changed conditions of the beamforming weights of all channels can be read, displayed and monitored in a network port, serial port and other modes.
Step S103: and acquiring test signals received by the test terminal at each test point, wherein the test points are determined according to the installation position of the intelligent antenna.
The test point is determined according to the installation position of the intelligent antenna. And selecting the optimal test point at different positions according to the requirement of the test beam direction. Fig. 2a and fig. 2b are schematic diagrams illustrating a position of a test terminal according to an embodiment of the present invention.
Specifically, a normal direction a of the smart antenna, such as a direction a in fig. 2a, is determined according to the installation position of the smart antenna, and a ground plane position corresponding to the installation position of the smart antenna is determined as a test origin O. Where θ is the down tilt angle of the smart antenna, H is the installation height of the smart antenna relative to the ground plane, and L represents H/tan (θ).
Further, as shown in fig. 2a, a test middle point 3 is first determined, the test middle point 3 being a test point along the direction of the normal a and at a distance L from the test origin O. Then, taking the test middle point 3 as a vertical test middle point, and selecting a plurality of vertical test points before and after the vertical test middle point 3 along the normal a direction according to a first set step length, in this embodiment, selecting 1, 2, 4, and 5, that is, the vertical test points include five test points of 1, 2, 3, 4, and 5. The first set step length may be 1 meter, that is, the linear distance interval of each vertical test point is 1 meter, and in addition, the positions and the number of the vertical test points may also be adjusted correspondingly according to the selected test site environment, which is not limited herein.
Further, as shown in fig. 2b, a horizontal test circle is determined with the test origin O as the origin and L as the radius; and selecting a plurality of horizontal test points 1 ', 2', 4 'and 5' on the horizontal test circle according to a second set step length by taking the test middle point 3 as a horizontal test middle point, wherein the horizontal test points comprise five test points 1 ', 2', 3, 4 'and 5'. It should be noted that the second setting step length may be the same as the first setting step length, or may be different from the second setting step length, specifically, the second setting step length may also be 1 meter, the linear distance interval of each test point is 1 meter, and in addition, the positions and the number of the horizontal test points may also be correspondingly adjusted according to the selected test site environment, which is not limited herein.
After the vertical and horizontal test points are determined, the base station sends a test signal to the test terminal through the intelligent antenna to be tested, the test signal can be a reference signal or a service signal, and the test signal is received at each test point successively through the mobile terminal.
Step S104: and obtaining the actual measurement performance parameters of the intelligent antenna according to the test signals.
And analyzing the specific address according to the test signal received by the test terminal at each test point. For example, an antenna pattern of the smart antenna, including a horizontal pattern and a vertical pattern, may be fitted by preset acquisition software according to performance such as Signal power, data transmission rate, SINR (Signal to interference plus Noise Ratio), and the like, when a Measurement Report (MR) is received.
Then, actual measurement performance parameters of the smart antenna are obtained according to the antenna directional diagram, and the actual measurement performance parameters include, but are not limited to, an actual measurement downtilt angle, an actual measurement beam width of the horizontal main beam, an actual measurement beam width of the vertical main beam, an actual measurement side lobe suppression ratio of the horizontal main beam, an actual measurement side lobe suppression ratio of the vertical main beam, and the like.
Step S105: and comparing and analyzing the target performance parameters and the actual measurement performance parameters, and adjusting the beam forming weight of each channel of the intelligent antenna according to the comparison result.
Further, after step S105, it is necessary to return to step S103 to re-acquire the test signal received by the test terminal at each test point until the actual measurement performance parameter and the target performance parameter meet the preset condition.
Specifically, the actual measurement performance parameters are compared with the target performance parameters, and the shaping weight coefficient parameters of each channel are optimized and adjusted according to the performance parameters which do not reach the standard. The following describes the method for adjusting the beamforming weight according to the embodiment of the present invention in detail by taking a smart antenna with 5 channels as an example. As shown in fig. 3, a schematic flow chart of a method for adjusting a beamforming weight according to an embodiment of the present invention includes:
step S301: the downtilt angle of the main beam is optimized.
If the actually measured downtilt angle is larger than the target downtilt angle, the downtilt angle value needs to be reduced. Assuming that initial phase weight coefficients corresponding to the 1 st channel to the 5 th channel of the smart antenna to be tested are W1, W2, W3, W4 and W5, the W1 may be adjusted and updated to (W1-2 θ), the W2 may be adjusted and updated to (W2- θ), the W4 may be adjusted and updated to (W4+ θ), and the W5 may be adjusted and updated to (W5+2 θ). The specific value of theta can be determined by combining multiple tests and experiences according to the difference value between the actually measured downward inclination angle and the target downward inclination angle, and is not limited herein.
Accordingly, if the measured downtilt angle is smaller than the target downtilt angle, indicating that the downtilt angle value needs to be increased, the W1 adjustment may be updated to (W1+2 θ), the W2 adjustment may be updated to (W2+ θ), the W4 adjustment may be updated to (W4- θ), and the W5 adjustment may be updated to (W5-2 θ). The specific value of theta can be determined by combining multiple tests and experiences according to the difference value between the actually measured downward inclination angle and the target downward inclination angle, and is not limited herein.
For the downward tilt angle of the main beam, in order to improve the testing efficiency and obtain a better testing effect, the weights of multiple channels of the smart antenna are generally adjusted at the same time, and may also be adjusted by a single channel, which is not limited herein. Suppose that the phase weights of the 1 st channel to the 5 th channel of the smart antenna to be tested after the first optimization are adjusted to be W11, W12, W13, W14 and W15.
Step S302: the beam width of the main beam is optimized.
In order to improve the testing efficiency and obtain a better testing effect, on the basis of adjusting the optimized phase weights W11, W12, W13, W14 and W15, the optimal beam width is obtained by adjusting the beamforming phase weight of a single channel, that is, the beamforming phase weight of a single channel is adjusted each time, and the beamforming weights of other channels are fixed. The specifically adjusted phase value is not limited to the difference between the measured main beam width and the target main beam width, and is determined by combining multiple tests and experience, which is not limited herein.
For example, by setting the large step diameter δ to 90 °, only the phase weight of any one of the 1 st channel, the 2 nd channel, the 4 th channel, and the 5 th channel is adjusted, and it is assumed that the phase weights of the 1 st channel to the 5 th channel of the smart antenna to be tested after the second optimization are obtained are W21, W22, W23, W24, and W25.
Step S303: side lobe suppression of the main beam is optimized.
Specifically, in order to improve the testing efficiency and obtain a better testing effect, on the basis of adjusting the optimized phase weights W21, W22, W23, W24, and W25, the optimal sidelobe suppression of the main beam is obtained by adjusting the beamforming phase weight of a single channel, that is, the beamforming phase weight of a single channel is adjusted each time, and the beamforming weights of other channels are fixed. The specifically adjusted phase value is not limited to the difference between the sidelobe suppression of the actual measurement main beam and the sidelobe suppression of the target main beam, and is determined by combining multiple tests and experience, which is not limited herein. And assuming that the phase weights of the 1 st channel to the 5 th channel of the intelligent antenna to be tested after the third optimization are W31, W32, W33, W34 and W35.
Further, for any channel in the 5 channels, every time the weight is adjusted by adding 10 ° or subtracting 10 °, 2 × 5 — 10 groups of test cases are obtained, and the main beam sidelobe suppression performance of each group of test cases is recorded; and selecting N groups of side lobe suppression performance optimization results from 10 groups of test cases, and then searching the side lobe suppression performance optimization results to obtain the optimal side lobe suppression performance.
It should be noted that the method is not limited to the adjustment of the beamforming phase weight of the smart antenna with 5 channels, but may also be applied to the adjustment of the beamforming phase weight of the smart antenna with several channels, which is not limited herein. In addition, the embodiment of the present invention is not limited to adjusting the beamforming phase weight of the smart antenna according to the above three performance parameters, and may also adjust the beamforming phase weight according to other parameters, which is not limited herein.
And after the finally optimized wave beam forming weight of the intelligent antenna to be tested is obtained, adjusting and configuring wave beam forming weight coefficients of all channels in a remote connection mode of the test terminal. In addition, the beamforming weights of each channel of the smart antenna may also be configured by the control system of the base station, which is not limited herein. After the weight configuration, the effective and changed conditions of the beamforming weights of all channels can be read, displayed and monitored through the network port, the serial port and the like.
For example, beamforming phase weight coefficients W31, W32, W33, W34 and W35 of the 1 st channel to the 5 th channel of the smart antenna to be tested are remotely configured through the test terminal, and effective and changed conditions of beamforming weights of the channels are read, displayed and monitored through a serial port.
It should be noted that after step 105, it is necessary to return to step 103 to obtain the test signals received by the test terminal at each test point, until the actual measurement performance parameter and the target performance parameter meet the preset condition, the test is finished, the target beamforming weight at this time is recorded, and the beamforming table is updated according to the target beamforming weight, so as to provide an accurate optimal beamforming coverage effect meeting the external field environment for practical application.
For example, after the beamforming weights are adjusted for multiple times and tested, it is obtained that the measured performance parameter is close to the target performance parameter or the difference value is within the preset range, the test is ended, beamforming phase weight coefficients W41, W42, W43, W44, and W45 of the 1 st channel to the 5 th channel of the smart antenna are recorded, and initial weight coefficients W1, W2, W3, W4, and W5 in the beamforming table are updated to W41, W42, W43, W44, and W45.
The embodiment of the invention provides a method for testing and optimizing the performance of an intelligent antenna, which comprises the steps of firstly calibrating each channel of the intelligent antenna after being installed; according to the target performance parameters of the intelligent antenna, setting a beam forming weight value for each channel of the intelligent antenna; and then obtaining test signals received by the test terminal at each test point, obtaining actual measurement performance parameters of the intelligent antenna according to each test signal, comparing and analyzing the target performance parameters and the actual measurement performance parameters, and adjusting the beam forming weight of each channel of the intelligent antenna according to the comparison result. According to the embodiment of the invention, the optimal coverage effect of the beamforming which accords with the actual environment of the external field is accurately obtained by optimizing the beamforming weight coefficient, and the workload of manual intervention and engineering debugging of the beamforming optimization test is reduced.
Based on the same inventive concept, an embodiment of the present invention further provides a device for testing and optimizing the performance of an intelligent antenna, as shown in fig. 4, which is a schematic structural diagram of the device for testing and optimizing the performance of an intelligent antenna provided by the embodiment of the present invention, and the device includes:
the calibration module 401: the intelligent antenna is used for calibrating each channel of the installed intelligent antenna;
the setup module 402: the intelligent antenna is used for setting a beam forming weight value of each channel of the intelligent antenna according to the target performance parameter of the intelligent antenna;
the test module 403: the test point is used for obtaining test signals received by the test terminal at each test point, and the test points are determined according to the installation position of the intelligent antenna;
the processing module 404: obtaining actual measurement performance parameters of the intelligent antenna according to the test signals; and comparing and analyzing the target performance parameters and the actual measurement performance parameters, adjusting the beam forming weight of each channel of the intelligent antenna according to the comparison result, and returning to the test module to execute the step of acquiring the test signals received by the test terminal at each test point until the actual measurement performance parameters and the target performance parameters meet preset conditions.
Preferably, the setting module 402 is specifically configured to:
searching a beam forming table according to the target performance parameter to obtain a beam forming weight of the intelligent antenna;
the processing module 404 is further configured to:
and determining a corresponding target beamforming weight when the target performance parameter and the actual measurement performance parameter meet a preset condition, and updating the beamforming table according to the target beamforming weight.
Preferably, the processing module 404 is specifically configured to:
analyzing the test signals received by the test terminal at each test point, and fitting an antenna directional diagram of the intelligent antenna, wherein the antenna directional diagram comprises a horizontal directional diagram and a vertical directional diagram;
and determining the actually measured performance parameters of the intelligent antenna according to the antenna directional diagram.
Preferably, the test module 403 is further configured to:
determining the normal direction of the intelligent antenna, and determining the ground plane position corresponding to the installation position of the intelligent antenna as a test origin;
determining a test middle point, wherein the test middle point is a test point which is along the normal direction and has a distance H/tan (theta) from the test origin, theta is a downward inclination angle of the intelligent antenna, and H is an installation height of the intelligent antenna relative to a ground plane;
selecting a plurality of vertical test points in the front and at the back of the vertical test intermediate point along the normal direction according to a first step length by taking the test intermediate point as the vertical test intermediate point;
determining a horizontal test circle by taking the test origin as an origin and taking H/tan (theta) as a radius; and selecting a plurality of horizontal test points on the horizontal test circle according to the second step length by taking the test middle point as a horizontal test middle point.
Preferably, the measured performance parameters include any one or a combination of the following:
a downtilt angle, a beam width of the horizontal main beam, a beam width of the vertical main beam, a sidelobe suppression ratio of the horizontal main beam, a sidelobe suppression ratio of the vertical main beam.
The embodiment of the invention provides a device for testing and optimizing the performance of an intelligent antenna, which comprises the following steps of firstly calibrating each channel of the intelligent antenna after being installed; according to the target performance parameters of the intelligent antenna, setting a beam forming weight value for each channel of the intelligent antenna; and then obtaining test signals received by the test terminal at each test point, obtaining actual measurement performance parameters of the intelligent antenna according to each test signal, comparing and analyzing the target performance parameters and the actual measurement performance parameters, and adjusting the beam forming weight of each channel of the intelligent antenna according to the comparison result. According to the embodiment of the invention, the optimal coverage effect of the beamforming which accords with the actual environment of the external field is accurately obtained by optimizing the beamforming weight coefficient, and the workload of manual intervention and engineering debugging of the beamforming optimization test is reduced.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction system which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.