Circuits and methods for linearizing capacitor calibration and systems using the same

[0002] This application for patent is related to the following applications for patent:

[0003] U.S. patent application Ser. No. 09/919,181, filed Jul. 30, 2001 by inventor Somayajula, entitled “CIRCUITS AND METHODS FOR OFFSET VOLTAGE COMPENSATION IN A CHARGE REDISTRIBUTION DIGITAL TO ANALOG CONVERTER” currently pending;

[0004] U.S. patent application Ser. No. 09/919,014, filed Jul. 30, 2001 by inventor Somayajula, entitled “A HIGH SPEED SUCCESSIVE APPROXIMATION RETURN PATH AND DATA CONVERSION METHODS AND CIRCUITS USING THE SAME” currently pending;

[0005] U.S. patent application Ser. No. 09/919,411, filed Jul. 30, 2001 by inventor Somayajula, entitled “CIRCUITS AND METHODS FOR LATCH METASTABILITY DETECTION AND COMPENSATION AND SYSTEMS USING THE SAME” currently pending;

[0006] U.S. patent application Ser. No. 09/919,410, filed Jul. 30, 2000 by inventor Somayajula, entitled “ANALOG TO DIGITAL CONVERSION CIRCUITS, SYSTEMS AND METHODS WITH GAIN SCALING SWITCHED-CAPACITOR ARRAY” currently pending;

[0007] U.S. patent application Ser. No. 09/918,616, filed Jul. 30, 2001 by inventor Somayajula, entitled “HIGH SPEED, LOW-POWER SHIFT REGISTER AND CIRCUITS AND METHODS USING THE SAME” currently pending; and

[0008] U.S. patent application Ser. No. 09/919,021, filed Jul. 30, 2000 by inventor Somayajula, entitled “METHODS AND CIRCUITS FOR COMPENSATING FOR FINITE COMMON MODE REJECTION IN SWITCHED CAPACITOR CIRCUITS” currently pending.

[0009] The present invention relates in general to switched capacitor circuits and in particular to circuits and methods for linearizing capacitor calibration and systems using the same.

[0010] One particular technique for performing analog to digital (A/D) conversion is through successive approximation. The basic successive approximation A/D converter (ADC) includes an analog comparator and a clocked feedback loop having a successive approximation register (SAR) and a digital to analog converter (DAC).

[0011] Generally, the analog input signal voltage is sampled onto an array of weighted capacitors, during the sampling phase, the top plates of which are coupled to one comparator input. The other comparator input is coupled to a comparison voltage, which could be a fixed reference voltage in a single-ended system or the voltage at the top plates of second capacitor array in a differential system.

[0012] During the first clock cycle of the subsequent conversion phase, the bottom plate of the capacitor representing the digital MSB is coupled to a reference voltage while the bottom plates of the remaining capacitors in the array are coupled to ground or a second reference voltage (ground will be assumed here). The new top plate voltage appears at the input of the comparator and is compared against the comparison voltage. If the new top plate voltage is below the comparison voltage, then the MSB is “kept” by the SAR in the feedback loop by maintaining its bottom plate coupled to the reference voltage. On the other hand, if the top plate voltage is above the comparison voltage, the SAR couples and the bottom plate of the MSB capacitor to ground. The state of the MSB capacitor represent the MSB of the digital output word as a Logic 1. The bottom plate of the second MSB is then coupled to the reference voltage and the same test is performed to determine the state of the next digital code bit. The successive approximation algorithm continues by repeating this procedure for the remaining capacitors in the array such that the voltage difference at the inputs to the comparator converge to zero. At the end of this bit cycling process, the configuration of the switches coupling the bottom plates either to Vref or Gnd represents the input sample in digital form.

[0013] Successive approximation AID converters are useful a wide range of applications, including data acquisition, test equipment, instrumentation, cellular communications, among others. Notwithstanding, in order to improve and broaden the utility of this type of A/D converter, significant challenges remain to be addressed. These challenges include improving the device speed given a set of process constraints, reducing the coding error rate, handling metastable states and device calibration

[0014] The inventive concepts allow for the compensation for varying voltage offsets appearing at a node in a switched capacitor circuit. These offsets may be caused, for example, by switch charge injection during the process of sampling a voltage onto the node, the charge injection varying as a function of the impedance appearing at the node at a given instant. These concepts are particularly useful with respects to capacitor arrays having one or more capacitors associated with a trim array, the trim array changing the impedance at a common node as trim capacitors are selectively used during trimming operations.

[0015] According to one specific embodiment of the principles of the present invention, a switched capacitor circuit is disclosed which includes a plurality of capacitor arrays coupled to a node, including an input array, a trim array associated with a selected capacitor of the input array, and an offset compensation array. A first set of switches are selectively used to couple capacitors of the input and trim arrays to selected reference voltages to approximate an impedance presented at the node during a subsequent operation to trim the selected capacitor of the input array. A sampling switch is included for sampling the selected reference voltages onto the input and trim arrays, the sampling switch injecting a corresponding amount of charge onto the node. This charge injection mismatch between the +ve and −ve array top plates coil appears as a code dependent offset to the trim cap calibration system. A second set of switches then selectively couples capacitors of the offset compensation array to the selected reference voltages to compensate for the amount of charge injected on the node by the sampling switch.

[0016] Advantageously, the present inventive concepts allow for a voltage offset resulting from charge injection onto a node during voltage sampling to be compensated for as each capacitor in the primary array is trimmed. Moreover, in circuits also including a comparator, any voltage offset introduced by that comparator can also be compensated for concurrently.

[0017] For a more complete understanding of the present invention, and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:

[0018] FIG. 1 is a high level block diagram of a digital receiver suitable for describing the principles of the present invention;

[0019] FIG. 2 is a high level functional block diagram of a single-chip analog to digital converter suitable for describing the present inventive concepts;

[0020] FIG. 3 illustrates one circuit embodiment of the principles of the present invention;

[0021] FIG. 4A is a functional block diagram of a switched-capacitor charge redistribution ADC embodying the present principles;

[0022] FIG. 4B illustrates one pair of the capacitor arrays of FIG. 4A, in further detail;

[0023] FIG. 5 is a functional block diagram of a second charge redistribution ADC embodying the present principles;

[0024] FIG. 6 is a conceptual schematic diagram showing the charge redistribution ADC of FIG. 4A at the start of the sampling phase of the offset calibration procedure; and

[0025] FIG. 7 is a flow chart illustrating a preferred calibration procedure where the switch settings for the positive path are shown - those of the negative path being complimentary.

[0026] The principles of the present invention and their advantages are best understood by referring to the illustrated embodiment depicted in FIG. 1-7 of the drawings, in which like numbers designate like parts.

[0027] FIG. 1 is a high level block diagram of a digital receiver 100 suitable for describing the principles of the present invention. Generally, receiver 100 includes an RF input port or antenna 101 for receiving an RF signal, such as those used in telecommunications, and radio and television transmission. The desired RF signal is then extracted from the received signal by a bandpass filter 102. A low noise amplifier (LNA) 103 sets the system noise figure before the RF signal is downconverted in frequency by a mixer stage 104 operating in response to a local oscillator (LO). The output of mixer stage 104 may be passed through a second low noise amplifier (LNA) 105 before conversion into the digital domain.

[0028] In system 100, analog to digital conversion is performed using analog to digital converter (ADC) 200 discussed in detail below. Once converted into the digital domain, the received data can be processed using a digital signal processor (DSP) subsystem 106.

[0029] FIG. 2 is a high level functional block diagram of a single-chip analog to digital converter 200 suitable for describing the present inventive concepts. A/D converter 200 is based on 4 interleaved successive-approximation A/D converters (ADCs) 201, which will be discussed further below. The digitally coded samples are de-interleaved in block 202 and output through output register 203. AND converter 200 also includes an on-chip reference voltage generator 204, clock generator 205 and clock generation circuitry 206.

[0030] Each of the ADCs 202 includes a fully differential capacitor array 206 under control of switch control circuitry 207. During the tracking mode, capacitor array 206 samples the input voltage at the differential analog inputs AIN+ and AIN−. During the hold mode, the sampled charge is held while the successive approximation algorithm generates the digital bits.

[0031] A gain stage 208 with minimal gain provides signal isolation in front of latch (comparator) 209. SAR return path 210 and FSM 211 feedback the reference voltage to capacitor array 206.

[0032] In a conventional charge redistribution DAC, the bottom plate of a graduated filter array is coupled to the input during the sampling phase and all capacitors are charged to the input signal voltage. After the capacitors are charged, their bottom plates are coupled to ground during hold phase such that the top plates of the capacitors are at a voltage V_Xwhich is approximately equal to −A_IN, where A_INis the input sample voltage. During bit cycling, the bottom plate of the capacitor representing the MSB is coupled to the reference and the voltage of the top plate compared against the reference. The bottom capacitors of the remaining capacitors remain coupled to ground to form a voltage divider. If upper plate voltage is below the reference, then the capacitor continues to be coupled to the reference (i.e. a logic 1 for the bit), otherwise the bottom plate of the capacitor is recoupled to ground (i.e. reset to 0).

[0033] FIG. 2 is a high level functional block diagram of a single-chip analog to digital converter 200 suitable for describing the present inventive concepts. A/D converter 200 is based on 4 interleaved successive-approximation A/D converters (ADCs) 201, which will be discussed further below. The digitally coded samples are de-interleaved in block 202 and output through output register 203. A/D converter 200 also includes an on-chip reference voltage generator 204, clock generator 205 and clock generation circuitry 206.

[0034] Each of the ADCs 202 includes a fully differential capacitor array 206 under control of switch control circuitry 207 which implements the charge redistribution DAC discussed below. During the tracking mode, capacitor array 206 samples the :input voltage at the differential analog inputs AIN+ and AIN−. During the hold mode, the sampled charge is held while the successive approximation algorithm generates the digital bits.

[0035] A gain stage 208 with minimal gain provides signal isolation in front of latch (comparator) 209. SAR return path 210 and FSM 211 feedback determine whether a bit is kept (i.e. corresponding capacitor remains coupled to the reference voltage) or not kept (i.e. the corresponding capacitor is recoupled to ground).

[0036] In a conventional charge redistribution DAC, the bottom plate of a graduated (bit-weighted) filter array is coupled to the input during the sampling phase and all capacitors are charged to the input signal voltage. After the capacitors are charged, their bottom plates are coupled to ground during hold phase such that the top plates of the capacitors are at a voltage V_Xwhich is approximately equal to −A_IN, where A_INis the input sample voltage. During bit cycling, the bottom plate of the capacitor representing the MSB is coupled to the reference and the voltage of the top plate compared against the reference. The bottom capacitors of the remaining capacitors remain coupled to ground to form a voltage divider. If upper plate voltage is now below the reference, then the MSB capacitor continues to be coupled to the reference (i.e. the bit is kept), otherwise the bottom plate of the capacitor is recoupled to ground (i.e. the bit is not kept).

[0037] One circuit embodiment of the principles of the present invention is shown in FIG. 3. In this case, an error cancellation (compensation) stage 301, which is preferrably a subtractor, is placed in front of the comparator. This cancellation stage receives feedback from the comparator output and cancels out the input voltage offset. The feedback loop allows the input offset to be dynamically cancelled as the input sample and reference voltages change and/or if the sampling or clock frequencies change. Cancellation stage 301 performs the cancellation operation in the analog domain, although its control is performed in the digital domain. A preferred charge redistribution DAC suitable with an integral offset compensation (cancellation) circuitry is discussed below in conjunction with FIG. 4.

[0038] Generally, there are two types of designs which must be considered, namely, those which can tolerate periodic recalibration for offset drift and those which cannot. According to the present principles, no front-end gain stages are used when recalibration for offset drift can be supported. In the second case, calibration is performed initially and then a small gain is provided at the front end:

[0039] Gain=Offset drift of the latch (V)/(½ LSB)(V)  (1)

[0040] For example, for a maximum offset drift of 30 mV and a ½ LSB voltage swing of 300 pV, the nominal gain in front of the comparator will be 100. (This is in contrast with traditional systems in which the front end gain is typically 300 or more.)

[0041] The reduced gain advantageously reduces power consumption in the comparator, which can be the dominant factor in the overall SAR power consumption. Moreover, the comparator can run at a higher rate of speed for the given gain-bandwidth parameter.

[0042] A switched-capacitor charge redistribution DAC 400 embodying the present principles is shown in FIG. 4A. In this embodiment, two capacitor arrays are provided for each of the,paths into the positive and negative differential inputs into comparator 465 namely, Input Capacitor Array 401 and Offset Compensation Capacitor Array 402. One pair of arrays 401 and 402 is shown in further detail in FIG. 4B. Input Capacitor Array 401 comprises a termination capacitor C_Tand an array of capacitors C_INi, i=1 to m graduated in the sequence C, 2C, 4C, . . . 2^m−2C, 2^m−1C(ff). In the following discussion, input capacitors 401 coupled to the positive comparator input are designated C_INPiand those coupled to the negative comparator input designated C_INNi. Generally, the termination capacitors do not participate in the bit-cycling process, except during capacitance calibration (trim) operations.

[0043] Offset Compensation Capacitor Array 402, comprises a termination capacitor C_Tand an array of capacitors C_OFFj, j=1 to n, graduated in the sequence C, 2C, 4C, . . . 2ⁿ⁻²C, 2ⁿ⁻¹C (ff). Offset capacitors coupled to the positive comparator input are designated C_OFFPjand those coupled to the negative comparator input C_OFFNj.

[0044] The bottom plate of each capacitor in array 401 is associated with a set of switches 403, one of which is shown in further detail. Specifically, each input array switch set includes a switch S_AINifor coupling the plate to the analog input voltage A_IN+ or A_IN−, a switch S_VRi+for coupling to the positive reference voltage rail V_REF+, a switch S_GNDifor coupling to the negative reference rail V_REF−, in this case GND, and a switch S_CMifor coupling to the input common mode voltage V_CMIreferenced to the differential inputs A_IN+and A_IN−.

[0045] A similar set of switches 404, indexed j=1 to m, selectively couple the bottom plates of the capacitors of offset array 402 to the input signal (A_IN+or A_IN−) and the reference voltage (V_REF+) and GND. After the SAR bit cycling process, the state of switches 403 represent the digitally coded input sample and is stored in registers 406 for output.

[0046] Each input capacitor array 401a,bassociated with a set of trim arrays 407. At least some of the capacitors in input arrays 401a,bare each associated with a trim array 407 which allow the effective capacitance of the given input capacitors to be calibrated or trimmed to tune performance of the ADC. The number and sizes of the capacitors in each trim array are a function of the required trim resolution. Additional trim capacitors may be provided for redundancy. In the preferred embodiment, the number and size of capacitors in each trim array are selected to total ⅛0 of the input capacitor being trimmed. For example, for the capacitor C7 representing Bit 7, a trim array of seven capacitors adding up to ⅛ C7 may be used, along with one or two additional trim capacitors for redundancy.

[0047] An offset calibration cycle is run to selectively charge the capacitors of the offset arrays 402a,bat the positive and negative inputs to the comparator. In the following discussion, “complementary” sets of capacitors are those coupled by the appropriate switches at a given instant to opposing reference voltages. For example, if capacitor C_INPiin input array 401 a at the positive comparator input is coupled to V_REF, then the corresponding capacitor in C_INiin input array 401bat the negative comparator input is coupled to GND, and vice versa. Similarly, if a capacitor C_OFFPjin offset array 402ais coupled to V_REF, capacitor C_OFFNjin offset array 402bis coupled to GND, and vice versa.

[0048] During the sampling phase of the calibration procedure, the bottom plates of all input capacitors C_INPi(i=1 to m) and C_INi(i=1 to m) are coupled to the input common mode voltage V_CMi, which in the illustrated embodiment is approximately Vcc/2. The MSB capacitor of the positive path capacitor offset compensation array 402ais coupled to V_REFand the complementary MSB capacitor in offset compensation array 402bis coupled to Gnd. The bottom plates of the remaining positive path offset capacitors 402aare coupled to ground and those the remaining negative path offset capacitors 402 are coupled to V_REF. The top plates of all the input and offset capacitors, for both paths are coupled to V_cm, which is the common mode voltage around which the comparator operates through track switches S_TRACK.

[0049] During the calibration conversion phase, a SAR bit cycling process is then performed using only the offset capacitors C_OFFPjand C_OFFNj. The bits on the offset capacitors after bit cycling approximate the inverse of the offset voltage V_OFF, such that the bit positions of the corresponding switches represent the offset compensation code. During this process, the bottom plates of the input capacitors are coupled to ground.

[0050] During subsequent normal mode operation, the input capacitors C_INPiand C_INNiare coupled to the system inputs to sample the differential analog inputs A_INPand A_INN. During normal mode sampling, the MSB offset capacitor of the positive path and the LSB offset capacitor of the negative path are coupled to V_REFwhile the LSB offset capacitors of the positive path and the MSB capacitor of the negative path are coupled to ground. A SAR bit cycling operation is then performed through the input capacitors C_INPiand C_INNi. During the normal operation conversion phase, the offset capacitors C_OFFPjand C_OFFNjare selectively coupled to V_REFand ground to reflect the offset compensation codes determined during the calibration operations.

[0051] An alternate embodiment is depicted in FIG. 5 Here, two offset arrays are provided at each of the comparator inputs. For a complete description of the operation of this embodiment and its advantages, reference is now made to coassigned application U.S. Ser. No. 09/1919,181 by inventor Somayajula, entitled “CIRCUITS AND METHODS FOR OFFSET VOLTAGE COMPENSATION IN A CHARGE REDISTRIBUTION DIGITAL TO ANALOG CONVERTER” incorporated above by reference.

[0052] In charge redistribution ADCs, capacitor calibration is important for insuring proper coding resolution. This can be done by associating at least some of the primary capacitors with an array of trim capacitors which can be switched in or switched out in parallel with the capacitor being calibrated to adjust its effective capacitance. Generally, in a bit-weighted capacitor array, where capacitor size graduates by powers of two, a given capacitor can be trimmed such that its capacitance approximately equals the sum of the capacitances of the preceding capacitors in the array (i.e. those representing lesser significant bits). For example, in arrays 401a,bthe theoretical capacitance of capacitor C₃is 4C, which is the sum of the capacitances of C_T, C₁and C₂. Therefore, given C₁and C₂, a trimming capacitance can be added in parallel in the trim array such that the trimmed valued C₃′=C₁+C₂+C_T. Once capacitor C ₃is trimmed, C₄can be trimmed, where C₄′=C₁+C₂+C₃′+C_T, and so on.

[0053] One particular technique for implementing this self-calibration scheme is by applying a successive approximation algorithm or similar routine to the trim capacitor array. Continuing the example of calibrating capacitor C₃, the bottom plate of LSB capacitors C_{1 and C2}are coupled to V_REFand bottom plates of capacitor C₃and its trim array C₃′ are coupled to Gnd during the sampling phase (for the positive path). Additionally, the bottom plates of remaining capacitors C₄−C_mare coupled to ground. The complementary voltages are applied to the opposite input array to the inputs of comparator 209 during sampling.

[0054] A bit cycling routine is performed through the trim arrays for capacitors C₃of the positive and negative paths, in the manner discussed above for the primary arrays during the conversion phase. During this process, bottom plates of capacitors C₁and C₂and C₄−C_mare coupled to Gnd and that of capacitor C₃to V_REF, for the positive path. For the negative path, capacitors C₁, C₂and C₄−C_mare coupled to V_REFand capacitor C₃is coupled to G_ND.

[0055] One problem with this process is non-constant charge injection onto the top plates of capacitors 401 by track switches 405 (S_track) as the impedance on the bottom plates changes with the configuration of switches 403 and 404. As discussed above, during offset compensation the bottom plates of capacitors 401a,bare coupled to V_CMi, and the offset compensation capacitors 402 appropriately configured, when track switches 405 are closed to V_cmduring the sampling phase. Hence, track switches 405 are presented with a certain impedance and inject a corresponding amount of charge onto the top plates of capacitors 401 when they subsequently open before the start of the conversion phase. On the other hand, during capacitor calibration, some of the input and offset compensation capacitors are coupled to Gnd and others to V_REFduring sampling, presenting a different impedance to track switches 405. Consequently, a different amount of charge is injected onto the upper plates of capacitors 401 and 402 and the trim capacitors when the track switches open. This resulting charge injection mismatch between the offset compensation and capacitor calibration operations manifests itself as a capacitance mismatch at the comparator input. In other words, code dependency has been introduced into the capacitance calibration process.

[0056] According to the present inventive principles, before the calibration of a given capacitor pair by trimming, the charge injected by the track switches 405 is captured at the input nodes of the comparator. The offset compensation procedure discussed above is then performed to compensate for the mismatch induced voltage offset, along with the offset voltage introduced by the comparator. The capacitors being calibrated can then be trimmed using a trim array 407.

[0057] A preferred calibration procedure 700 is shown in the flow chart of FIG. 7, where the switch settings for the positive path are shown—those of the negative path being complimentary. Consider for example the calibration of capacitors C_3Pand C_3N(i initial at Step 701=3). (These capacitors have been arbitrarily selected for purposes of discussion—the present calibration process generally is the same for any input capacitor pair associated with at least one trim capacitor). The offset compensation sampling phase is performed at Step 702 and as shown in FIG. 6. For the positive path, the termination capacitors C_Tand input capacitors C_1Pand C_2Pare coupled to V_REF, along with their associated trim capacitors, if any. The capacitor being calibrated, and any higher significant bit capacitors (i.e. capacitors C_3P−C_mP) are coupled to ground, along with the C_3P−C_mPtrim arrays C_3PTRIM−C_mPTRIM. The negative path is set up in the complementary configuration and the offset capacitor arrays 403 configured as described above for the offset compensation sampling phase. (For the positive path, the MSB offset compensation capacitor C_OFFMSBPis coupled to V_REFand the remaining capacitors C_OFFLSBPcoupled to Gnd. For the negative path, C_OFFMSBNis coupled to Gnd and C_OFFLSBNare coupled to V_REF). Track switches S_TRACKthen close.

[0058] When tracking switches S_Trackopen at the end of the sampling phase, the offset at the input to comparator 209 includes that introduced by charge injection from particular switch configuration used during the sampling phase of the capacitor calibration process discussed below.

[0059] Offset compensation bit cycling (conversion phase) is then performed at Step 703 through the offset arrays 402a,bto compensate for both the offset due to charge injections and the comparator induced offset. During this operation, the input and trim capacitor arrays remain in the same state as during the offset compensation sampling phase. In other words, these capacitors do not participate in the conversion process per se, but instead provide the proper impedance at the inputs to the comparator for setting the track switch charge injection induced offset.

[0060] After the offset compensation is performed, capacitors C_3Pand C_3Ncan be trimmed using associated trimming arrays C_3PTrimand C_3NTrimsuch that they match the sums of capacitors C_1Pand C_2Pand C_1Nand C_2N, respectively.

[0061] During the calibration sampling phase (Step 704), for the positive path, input capacitors C_1Pand C_2Pand the termination capacitor C_Tare coupled to V_REFand capacitors C_3P−C_mPand the C₃trim capacitors (C_3Trim) are coupled to ground. The complementary configuration is set-up for the negative path. During the calibration conversion phase (Step 705), input capacitors C_1Pand C_2Pand the termination capacitor C_Tare recoupled to Gnd and capacitor C₃and the MSB C₃trim capacitor (C_3PTrimMSB) recoupled to V_REF. for the positive path. Similar switching is done for the negative path with the complementary voltages.

[0062] A SAR bit cycling process is then performed through trim array C_3pTrim, starting with C_3PTrimMSB(at Step 706). If the output of comparator-latch 209 swings low, then trim capacitance is added in parallel with capacitor C_3P(by coupling the bottom plate of the trim capacitor being tested with the bottom plate of capacitor C₃) for the positive path and capacitor C_3Nfor the negative path (i.e. the trim capacitor is kept). Conversely, if the comparator-latch output swings high, then the trim capacitors being tested are not kept and the corresponding bottom plates are simply coupled to ground. The resulting trimmed capacitances C′_3Pand C′_3Nare parallel combinations of input capacitance C_3Pand C_3Nthe “kept” trim capacitors C_3pTrim, and C_3NTrim.

[0063] At Steps 707 and 708, the procedure continues to the next capacitor in the input array (i=i+1) and repeats until the last capacitor is reached (i=m). The calibration procedure in this example is repeated for capacitor C₄−C_m. For the case of capacitors C_4Pand C_4N, for example, trimmed capacitors C′_3Pand C′_3Nare coupled and decoupled to the reference voltages V_REFand Gnd as was done with capacitors C₁and C₂during the calibration of capacitors C₃.

[0064] Although the invention has been described with reference to a specific embodiments, these descriptions are not meant to be construed in a limiting sense. Various modifications of the disclosed embodiments, as well as alternative embodiments of the invention will become apparent to persons skilled in the art upon reference to the description of the invention. It should be appreciated by those skilled in the art that the conception and the specific embodiment disclosed may be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the present invention. It should also be realized by those skilled in the art that such equivalent constructions do not depart from the spirit and scope of the invention as set forth in the appended claims.

[0065] It is therefore, contemplated that the claims will cover any such modifications or embodiments that fall within the true scope of the invention.