ultraleap Patent | Variable phase and frequency pulse-width modulation technique

Patent: Variable phase and frequency pulse-width modulation technique

Drawings: Click to check drawins

Publication Number: 20200117229

Publication Date: 20200416

Applicants: Ultraleap

Abstract

Phased array systems rely on the production of an exact carrier frequency to function. Reconstructing digital signals by specified amplitude and phase is accomplished explicitly by inducing frequency shifts away from a base frequency implied by phase changes. Shifting the carrier frequency of a digitally controlled phased array while preserving the timing of the individual phase pulses enables more efficient driving of the phased array system when the phase of the drive signals change dynamically in time.

Claims

1. A system comprising: an electrical signal wherein the electrical signal is driven by a real-time progressive polynomial spline evaluation that achieves an up-sampling by a power-of-two factor using a linear combination of counters.

2. The system of claim 1, wherein the polynomial spline has a plurality of intervals, and wherein at least one of the plurality of intervals is a base frequency period.

3. The system of claim 1, wherein the polynomial spline has a plurality of intervals, and wherein at least one of the plurality of intervals is a power-of-two count of base frequency periods.

4. The system of claim 1, wherein the polynomial spline has a plurality of intervals, and wherein at least one of the plurality of intervals is a power-of-two fraction of a base frequency period.

5. The system of claim 1, wherein the electrical signal has a phase angle, and wherein the phase angle is modified by a rolling counter incremented by a value driven by an external environmental monitoring sensor.

6. The system of claim 1, wherein the electrical signal has a phase angle, and wherein the phase angle is modified by a rolling counter decremented by a value driven by an external environmental monitoring sensor.

7. A system comprising: an electrical signal wherein an instantaneous phase angle of the electrical signal is substantially calculated by a real-time progressive polynomial spline evaluation that achieves an up-sampling by a power-of-two factor using a linear combination of counters.

8. The system of claim 7, wherein the polynomial spline has a plurality of intervals, and wherein at least one of the plurality of intervals is a base frequency period.

9. The system of claim 7, wherein the polynomial spline has a plurality of intervals, and wherein at least one of the plurality of intervals is a power-of-two count of base frequency periods.

10. The system of claim 7, wherein the polynomial spline has a plurality of intervals, and wherein at least one of the plurality of intervals is a power-of-two fraction of a base frequency period.

11. The system of claim 7, wherein the electrical signal has a phase angle, and wherein the phase angle is modified by a rolling counter incremented by a value driven by an external environmental monitoring sensor.

12. The system of claim 7, wherein the electrical signal has a phase angle, and wherein the phase angle is modified by a rolling counter decremented by a value driven by an external environmental monitoring sensor.

13. A system comprising: a digital electrical signal having a state, wherein the state is calculated by comparing a difference between a current position in a base frequency cycle and an instantaneous phase angle to a proportion of cycle duty that would be present at the base frequency cycle.

14. The system of claim 13, further comprising a polynomial spline having a plurality of intervals, and wherein at least one of the plurality of intervals is a base frequency period.

15. The system of claim 13, further comprising a polynomial spline having a plurality of intervals, and wherein at least one of the plurality of intervals is a power-of-two count of base frequency periods.

16. The system of claim 13, further comprising a polynomial spline having a plurality of intervals, and wherein at least one of the plurality of intervals is a power-of-two fraction of a base frequency period.

17. The system of claim 13, wherein the electrical signal has a phase angle, and wherein the phase angle is modified by a rolling counter incremented by a value driven by an external environmental monitoring sensor.

18. The system of claim 13, wherein the electrical signal has a phase angle, and wherein the phase angle is modified by a rolling counter decremented by a value driven by an external environmental monitoring sensor.

Description

RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application No. 62/744,656, filed on Oct. 12, 2018, which is incorporated by reference in its entirety.

FIELD OF THE DISCLOSURE

[0002] The present disclosure relates generally to reconstructing digital signals by specified amplitude and phase via inducing frequency shifts away from a base frequency implied by phase changes.

BACKGROUND

[0003] Phased array systems rely on the production of an exact carrier frequency to function. To simplify systems, it is often assumed that the carrier frequency is emitted during all relevant times so that the system can be treated as time invariant. This time invariance is necessary for the input signals to the array element transducers to be treated as complex values.

[0004] Generating a constant frequency pulse-width modulated (PWM) digital signal with a given phase offset for all relevant times is trivial. But changing the state of a phased array system often involves changing the phase angle of the elements, which violates the time-invariance requirement. This results in many side-effects, including a shift in frequency. Since the digital signal generation assumes that the base frequency (the frequency with which the primitive phase angles are specified relative to) is equal to the carrier frequency for all relevant times, this causes errors in the digital signals output to each array element transducer. Thus, it is necessary for the development of a signal generation system that is capable of producing a digital signal using the free selection of amplitude and phase. Thus is used to produce a substantially error-free signal that preserves the amplitude and phase relative to a constant base frequency while allowing the carrier frequency to vary.

SUMMARY

[0005] The solution presented herein uses the specified amplitude and phase to reconstruct a digital signal that explicitly induces the frequency shifts away from the base frequency implied by phase changes. Shifting the carrier frequency of a digitally controlled phased array while preserving the timing of the individual phase pulses enables more efficient driving of the phased array system when the phase of the drive signals change dynamically in time.

BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The accompanying figures, where like reference numerals refer to identical or functionally similar elements throughout the separate views, together with the detailed description below, are incorporated in and form part of the specification, serve to further illustrate embodiments of concepts that include the claimed invention and explain various principles and advantages of those embodiments.

[0007] FIG. 1 shows an output from a quickly-moving focus point using a standard approach.

[0008] FIG. 2 shows an output similar to FIG. 1 but from a quickly-moving focus point using a novel approach.

[0009] FIGS. 3A and 3B are closeups of FIGS. 1 and 2, respectively.

[0010] FIG. 4 shows geometric behavior of a system having 3/2 of a base frequency.

[0011] FIG. 5 shows geometric behavior of a system having exactly the base frequency.

[0012] FIG. 6 shows geometric behavior of a system having a slowly increasing phase relative to the base frequency.

[0013] FIG. 7 shows geometric behavior of a system having an arbitrary function of phase angle relative to the base frequency.

[0014] FIG. 8 shows geometric construction of proof of the correct behavior for the case of increased frequency.

[0015] FIG. 9 shows geometric construction of proof of the correct behavior for the case of decreased frequency.

[0016] Skilled artisans will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of embodiments of the present invention.

[0017] The apparatus and method components have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.

DETAILED DESCRIPTION

[0018] Carrier frequency is defined herein as the consequential instantaneous frequency of the output digital signal pulses. Base frequency is defined herein as the center frequency that is described by an unmoving or constant phase signal. It is known that any phase change in the signal also constitutes a frequency shift. In this case that is realized by the carrier frequency shifting away from the base frequency. To preserve compatibility with the input intended for the elements of a phased array, the input data to the method is considered to be the phase and duty cycle of a pulse-width modulation. This is measured with respect to a steady reference signal that is a fixed source at the base frequency.

I. SHIFTING CARRIER FREQUENCIES WHILE PRESERVING TIME AND PHASE ACCURACY

[0019] Prior solutions suppose a set carrier frequency (that is always equal to the base frequency) where any variation from this frequency (including any change in phase) generates error. If the true carrier frequency is close to the base frequency this error is small, but it is still consistently present when (for instance) moving the focus of the phased array.

[0020] FIG. 1 shows an output from a quickly-moving focus point using a standard approach. The drive of each transducer in a square 16.times.16 element phased array is represented by a column of black and white data. Horizontal gray bars represent the start of each period of the base frequency and the rows are each tick of the clock on which a binary digit that describes the transducer state must be output. Each square of black or white data describes the binary state of the electrical input signal and thus transducer element at that tick through time. Each carrier frequency period is generated independently at the base frequency with the correct phase and duty cycle that corresponds to the amplitude.

[0021] Specifically, FIG. 1 is a visualization 100 of the digital pulse-width modulated output from the standard technique when the focus for the array is moving quickly. The input to each transducer is arranged horizontally 160, with time 150 moving from the bottom to the top of the diagram. The base frequency periods are delineated 161, 162, 163, 164, showing where one period ends and the next begins. Erroneously repeating pulses 110, 120, 130, 140 can be seen that are indicative of a frequency shift from the base frequency, here to a lower carrier frequency. The standard technique requires that each base frequency period contains at least one pulse region 110, 120, 130, 140. But it can be seen that the correct behavior should involve fewer than one pulse region per base frequency period, showing that the system is attempting to generate a frequency lower than the base frequency. This can be appreciated by the curving trend of the pulses required to affect a focus in the phased array. The trend of these pulses formed by the focusing process have erroneous discontinuities at the edges of each period. This trend can be identified as seeming to have repeated discontinuous offsets in time in order to fulfil the implied requirement of having one pulse region per base frequency period.

[0022] The new algorithm, whose output is shown in FIG. 2, allows the carrier frequency to shift away from the base frequency while preserving the timing and phase accuracy of the amplitude generating pulses. Shown is a visualization 200 of the digital pulse-width modulated output from the new technique when the focus for the array is moving quickly. The input to each transducer is arranged horizontally 260, with time 250 moving from the bottom of the top of the diagram. The base frequency periods are delineated 261, 262, 263, 264, showing where one period ends and the next begins. Here the double pulses 210, 220, 230, 240 are no longer a problem. While the phases agree exactly with the standard approach at the start of each base frequency period, the number of pulse regions per base frequency period is now on average less than one. These features taken together show that the carrier frequency has been lowered correctly.

[0023] The detailed differences between the output from both approaches is shown in FIGS. 3A and 3B. FIG. 3A is a detail 300 of the upper left corner of FIG. 1. FIG. 3B is a detail 350 of the upper left corner of FIG. 2. As the waveform of both techniques are equivalent at the start of each base frequency period 162, 262 the pulse intended to be produced at the base frequency in the old technique (FIG. 3A), has instead produced a double pulse 310 due to the moving phase shift. The reality is that not only is the double pulse incorrect, its frequency content is disruptive to the behavior of the system. This is because the temporal distance between the two pulses implies very high frequency content that is near neither the base nor the intended carrier frequency.

[0024] In the new technique (FIG. 3B), a single pulse 360 has been produced at a lower frequency that corresponds to the corrected position across both base frequency periods (between 261 and 262 and between 262 and 263). The single pulse 360 further has been elongated in time to factor in the change in the number of discrete ticks that a given duty cycle percentage implies. This is shown by its occupation of more pulse elements (white squares) than the equivalent pulses in 310.

II. HARDWARE TECHNIQUES TO CREATE SUITABLE PWM OUTPUT

[0025] The hardware-efficient method of generating the up-sampling of the phase represented as the evaluation of high-order polynomial interpolant is also novel. The aim is to produce a PWM output that respects and correctly interprets changes in frequency while also preserving absolute phase and phase changes. Without loss of generality, this technique may be also restated with phase delays that produces a "sign flip" in angle from the technique described.

[0026] The moving phase angle may be considered as an equivalent formulations for a phase-frequency modulated wave:

cos ( .omega. t + .intg. d .theta. ' ( t ) dt dt + .theta. ) = cos ( .theta. ' ( t ) + .omega. t ) = cos ( .theta. + .intg. .omega. ' ( t ) dt ) , ##EQU00001##

where .theta.'(t) is a time-dependent function of phase and .OMEGA.'(t) is a time-dependent function of frequency. It can be seen that d.theta.'(t)/dt is a measure of deviation of the carrier frequency from the base frequency. This can be simplified by normalizing both angle and .omega. (divide through by the base frequency and 2.pi. radians, .theta. now being measured in revolutions), yielding .omega.=1.

[0027] Describing the phase delay .theta.'(t) may be achieved by interpolating phase offsets generated in subsequent base frequency steps by a polynomial, since it is beneficial for the frequency to be defined and continuous on the endpoints. The frequency is defined as:

d .theta. ' ( t ) dt + .omega. = .omega. ' ( t ) , ##EQU00002##

where the first time derivatives of phase angle also contribute to the instantaneous carrier frequency and thus form two derivative constraints:

d .theta. ' ( 0 ) dt + .omega. = .omega. ' ( 0 ) = .omega. + .theta. 0 - .theta. - 1 , ##EQU00003## d .theta. ' ( 1 ) dt + .omega. = .omega. ' ( 1 ) = .omega. + .theta. 1 - .theta. 0 . ##EQU00003.2##

The two endpoints of the interval in angle also have further constraints:

.theta.'(0)=.theta..sub.0,

.theta.'(1)=.theta..sub.1,

which together with the constraints on carrier frequency make four in total. This necessitates a cubic polynomial interpolation for this level of continuity. As shown, defining .omega.'(0) and .omega.'(1) can be achieved using backwards differences, thus limiting the number of samples required in the future direction and reducing latency. This also reduces the total number of immediately available samples required from four to three precomputed samples of the phase angle and duty cycle of the intended signal.

[0028] The cubic form of the interpolating spline polynomial formed from backwards differences is:

.theta.'(t)=(-.theta..sub.-1+2.theta..sub.0-.theta..sub.1)t.sup.3+(2.the- ta..sub.-1-4.theta..sub.0+2.theta..sub.1)t.sup.2+(.theta..sub.0-1.sub.-1)t- +.theta..sub.0,

which is repeated for every interval.

[0029] Further, the phase may be also represented by a lower degree polynomial. Although this would imply sacrificing some of the continuity conditions, the reasonable approach is to produce discontinuities in frequency anyway (but importantly, phase continuity is preserved as only the time derivatives of the phase are discontinuous). Even with frequency discontinuities, the technique using this interpolant enjoys a significant accuracy improvement over the standard technique. The linear interpolant for such a method may be stated as:

.theta.'(t)=(.theta..sub.1-.theta..sub.0)t+.theta..sub.0.

[0030] Although the complexity of the implementation increases, higher order interpolation polynomials may equally be used without loss of generality. The on-time of a digital signal is described by the duty cycle, which is assumed proportional to the amplitude of the signal. This motivates the name "pulse-width modulation." This can be realized here by adding an interpolation on the duty cycle value .DELTA. of the signal encoded as a pulse-width percentage at the base frequency:

.DELTA.'(t)=(.DELTA..sub.1-.DELTA..sub.0)t+.DELTA..sub.0.

Defining the output signal going into the element as a digital approximation to:

cos ( .omega. t + .intg. d .theta. ' ( t ) dt dt + .theta. ) = cos ( .theta. ' ( t ) + .omega. t ) , ##EQU00004##

so a time-varying .theta. phase offset with respect to the base frequency may also be viewed as a deviation from the base signal frequency co, effectively d.theta.'(t)/dt. To search for the locations of the pulses, zeroes (also multiples of 2.pi.) of the angle input to the cosine function must be found. These correspond to peaks in the wave and high points in the digital signal. To achieve this, both angle and .omega. are normalized (divide through by the frequency and 2.pi. radians, all .theta. now being measured in revolutions), yielding .omega.=1. Therefore, the condition being searched for is:

.omega.t-.theta.'(t)=t-.theta.'(t)=0.

This describes the center of the pulse at each step.

[0031] To find the extent of the pulse around the center point, the value |t-.theta.'(t)| is computed. If it is smaller than a given value representing an amplitude, then the point in time is within the pulse, in the high region of the digital signal. Otherwise, the point in time is outside the pulse and in the low region of the digital signal.

[0032] FIGS. 4 through 7 geometrically demonstrate how testing that this value is less than .DELTA.'(t)/2 generates the appropriate pulse.

[0033] FIG. 4 shows the geometrical behavior 400 for the edge case of 3/2 of the base frequency. In this graph, .DELTA. is .DELTA.(t), the y-axis 410 represents normalized angle (in revolutions) .theta., and the x-axis 420 represents normalized time (in base frequency periods) t. This FIG. 4 is a geometric interpretation of the PWM generation when applied to a slowly decreasing phase (with derivative -1/2, negative slope down and to the right), relative to the base frequency represented by the diagonal phase lines 440a, 440b, 440c.

[0034] The distance between the two sets of repeating curves crosses the threshold where it is less than .DELTA./2 (defined as half the duty cycle quantity) distance in a number of places 450a, 450b, 450c, 450d, 450e, 450f, 450g, 450h that repeat in time. These two sets of curves are the constant phase versus timelines 460a, 460b, 460c, 460d, 460e (.theta.=t or .theta.=.omega.t, but wrapped around in rotations and base frequency periods since .omega. is normalized to one). This travels up and to the right of the diagram that represent the base frequency with zero phase offset behavior. The interpolated phase curves (.theta.'(t)) that represent the desired behavior that are an addition to this signal in phase 440a, 440b, 440c. Where the two curves "match" in phase closely enough (less than .DELTA./2), these regions represent the pulse parts of the pulse signals 430. The dashed vertical lines projected from the .DELTA./2 distance factors 450a, 450b, 450c, 450d, 450e, 450f, 450g, 450h show the places on the PWM signal 430 where the binary state is changed inducing pulse edges due to the .DELTA./2 distance factor being reached.

[0035] The constant phase versus timelines (.theta.=t or .theta.=.omega.t) travelling up and to the right of the diagram that represent the base frequency with zero phase offset behavior are repeated for every period of the base frequency. The repetition in the vertical direction shows that it is true for all integer numbers of rotations in angle. Thus it is true even considering numerical wrap-around of the counters used to implement the method. This generates a PWM signal with a carrier frequency that is three-halves the base frequency (where the frequency multiplier is obtained by subtracting the instantaneous derivative of the interpolated phase lines .theta.'(t)(-1/2) from the derivative of the constant phase versus timelines .theta.=.omega.t(1), so 1-(-1/2)=3/2). At the bottom is the final digital signal 430 that is to drive the element made up of all of the points where the two sets of curves are less than .DELTA./2 distance apart.

[0036] FIG. 5 shows the geometrical behavior 500 for exactly the base frequency. In this graph, .DELTA. is .DELTA.(t), the y-axis 510 represents normalized angle (in revolutions) .theta., and the x-axis 520 represents normalized time (in base frequency periods) t. Shown is a geometric interpretation of the PWM generation when applied to a flat constant phase angle .theta.'(t) (horizontal lines with derivative zero in time) that does not change relative to the base frequency represented by the diagonal phase lines 540a, 540b, 540c.

[0037] The distance .DELTA./2 550a, 550b, 550c, 550d, 550e, 550f again represents the transition points between the two states in the pulse signal. Thus, the two curves cross over exactly once per base frequency period because the interpolated phase curve is horizontal and represents a constant phase angle. This generates a PWM signal with a carrier frequency that that is exactly equal to the base frequency (where the frequency multiplier is again obtained by subtracting the instantaneous derivative of the interpolated phase lines .theta.'(t)(0) from the derivative of the constant phase versus timelines .theta.=.omega.t(1), so 1-0=1). The dashed lines show the pulse edges in the pulsed signal. At the bottom is the final digital signal 530 that is to drive the element made up of all of the points where the two sets of curves are again less than .DELTA./2 distance apart.

[0038] FIG. 6 shows the geometrical behavior 600 for the edge case of 1/2 the base frequency. In this graph, .DELTA. is .DELTA.(t), the y-axis 610 represents normalized angle (in revolutions) .theta., and the x-axis 620 represents normalized time (in base frequency periods) t. The distance .DELTA./2 650a, 650b again represents the transition points between the two states in the pulse signal.

[0039] Shown is a geometric interpretation of the PWM generation when applied to an increasing phase .theta.'(t) (with derivative 2), relative to the base frequency represented by the diagonal phase lines 640a, 640b, 640c. This generates a PWM signal with a carrier frequency that is half the base frequency (where the frequency multiplier is obtained by subtracting the instantaneous derivative of the interpolated phase lines .theta.'(t)(+1/2) from the derivative of the constant phase versus time lines .theta.=.omega.t(1), so 1-(+1/2)=1/2). At the bottom is the final digital signal 630 that is to drive the element made up of all of the points where the two sets of curves are again less than .DELTA./2 distance apart.

[0040] FIG. 7 shows the geometrical behavior 700 as to how an example interpolated function where the gradient and thus frequency changes significantly over time fits into this geometric description. In this graph, .DELTA. is .DELTA.(t), the y-axis 710 represents normalized angle (in revolutions) .theta., and the x-axis 720 represents normalized time (in base frequency periods) t. Shown is a geometric interpretation of the PWM generation when applied to a more arbitrarily defined function of phase angle, relative to the base frequency represented by the diagonal phase lines .theta.'(t) or .theta.=.omega.t 740a, 740b, 740c, 740d, 740e, 740f, 740g, 740h, 740j, 740k. The distance .DELTA./2 750a, 750b, 750c, 750d, 750e. 750f. 750g, 750h, 750j, 750k, 750m, 750n, 750p, 750q, 750r, 750s, 7501, 750u, 750v, 750w again represents the edges in the pulse signal. But here while they represent the same .DELTA./2 distance on the y-axis, they correspond to varying pulse length on the x-axis. The wavy horizontal lines 745a, 745b, 745c are the interpolated phase lines .theta.'(t) in this example.

[0041] The variation in the derivative of .theta.'(t) moves between positive derivative that generates longer pulses at a lower frequency and negative derivative that generates shorter pulses at a higher frequency. This is due to the crossings between y-axis distances smaller than .DELTA./2 and larger than .DELTA./2 changing their relative distance apart. At the bottom is the final digital signal 730 that is to drive the element, wherein pulse edges are induced when the signal y-axis distance crosses the .DELTA./2 threshold.

[0042] It can also be proven that the duty cycle value .DELTA.'(t)/2 when used in this way scales appropriately with frequency for this scheme.

[0043] FIG. 8 shows the geometric construction 800 of the proof of the correct behavior for the case of increased frequency. The y-axis 810 represents normalized angle (in revolutions) 0 and the x-axis 820 represents normalized time (in base frequency periods) t. The distance .DELTA./2 844 again represents the state change in the transducer drive signal. But in this situation the curve .theta.'(t) is assumed to have negative derivative

d .theta. ' ( t ) dt , ##EQU00005##

resulting in a higher frequency. The more negative the derivative

d .theta. ' ( t ) dt , ##EQU00006##

the higher the frequency and the larger the distance X should be.

[0044] Further, FIG. 8 shows a geometric proof of the correct scaling of the amplitude of the pulses with frequency. This is a further effect of the measurement approach for carrier frequencies that have increased with respect to the base frequency. This is demonstrated by showing that p/2 836, 838, which is half the width of the final pulse, scales in time appropriately with the frequency shift. Further, a negatively sloped phase curve .theta.'(t) 834 that is of constant slope intersects 830 a positively sloped curve 832 .theta.=t. To find p/2 836, 838 (the length of half of the pulse at the new higher frequency) the angle .alpha. 840 can be found as:

tan .alpha. = x p / 2 = d .theta. ' ( t ) dt , ##EQU00007##

and since

.DELTA. ' ( t ) 2 = p 2 + x , x = p 2 d .theta. ' ( t ) dt , .DELTA. ' ( t ) 2 = p 2 + p 2 d .theta. ' ( t ) dt , .DELTA. ' ( t ) 2 = p 2 ( 1 + d .theta. ' ( t ) dt ) , p 2 = .DELTA. ' ( t ) / 2 1 + d .theta. ' ( t ) dt , ##EQU00008##

which is the definition of the appropriate pulse-width change due to the frequency shift when

d .theta. ' ( t ) dt .ltoreq. 0. ##EQU00009##

[0045] In summary, FIG. 8 demonstrates that the half pulse width is appropriately scaled in this situation for the frequency multiplier

1 + d .theta. ' ( t ) dt , ##EQU00010##

when the y-axis distance .DELTA./2 is used as the criterion for the pulse edges. This is exactly the frequency multiplier required.

[0046] FIG. 9 shows the geometric construction 900 of the proof of the correct behavior for the case of decreased frequency. The y-axis 910 represents normalized angle (in revolutions) .theta. and the x-axis 920 represents normalized time (in base frequency periods) t. The distance .DELTA./2 944 again represents the state change in the transducer drive signal. But in this situation the curve .theta.'(t) is assumed to have positive derivative

d .theta. ' ( t ) dt , ##EQU00011##

resulting in a lower frequency. The more positive the derivative

d .theta. ' ( t ) dt , ##EQU00012##

the lower the frequency and the larger the distance X should be.

[0047] Further, shown is a geometric proof of the correct scaling of the amplitude of the pulses with frequency. This is a further effect of the measurement approach for carrier frequencies that have increased with respect to the base frequency. This is demonstrated by showing that p/2 936, 942 which is half the width of the final pulse, scales appropriately in time with the frequency shift.

[0048] Further, a positively sloped phase curve .theta.'(t) 934 that is of constant slope, intersects 930 a positively sloped curve .theta.=t 932. To find p/2 936, 942 (the length of half of the pulse at the new lower frequency) the angle .alpha. 940 can be found using a similar construction as before as:

tan .alpha. = x p / 2 = d .theta. ' ( t ) dt , ##EQU00013##

and since

.DELTA. ' ( t ) 2 = p 2 - x , x = p 2 d .theta. ' ( t ) dt , .DELTA. ' ( t ) 2 = p 2 - p 2 d .theta. ' ( t ) dt , .DELTA. ' ( t ) 2 = p 2 ( 1 - d .theta. ' ( t ) dt ) , p 2 = .DELTA. ' ( t ) / 2 1 - d .theta. ' ( t ) dt , ##EQU00014##

which is the definition of the appropriate pulse width change due to the frequency shift when

d .theta. ' ( t ) dt .gtoreq. 0. ##EQU00015##

[0049] In summary, FIG. 9 demonstrates that the half pulse width is appropriately scaled in this situation for the frequency multiplier

1 - d .theta. ' ( t ) dt , ##EQU00016##

when the y-axis distance .DELTA./2 is used as the criterion for the pulse edges. This is exactly the frequency multiplier required.

[0050] In conclusion, having shown that the Boolean test:

|t-.theta.'(t)|<.DELTA.'(t)/2,

is guaranteed to produce the best approximation of the pulse, it is imperative that the progressive evaluation of the polynomial interpolant be achieved with an efficient hardware algorithm.

III. COUNTER ARCHITECTURE

[0051] The uniformly progressive requirement for the evaluation of the spline interpolant affords an intuitive and low-cost approach to the evaluation of polynomial. By incrementing time forward, a series of cascaded counters may be used to derive simplex numbers and thus the powers of t required. For each carrier frequency period, t should range in the interval 0 to 1 to evaluate the spline polynomial.

[0052] Each spline interval counts k discrete sub-interval steps from 0 to 2.sup.INT_BITS-1. By incrementing each counter, it can compute the terms corresponding to the powers of k. By reinterpreting powers of k as fractions, powers of t are computed. This occurs by first establishing a per spline-curve constant, for instance taking the constant b. Then, the first counter (proportional to b multiplied by a linear order term in t) is defined by:

.varies.bO(t).sub.0=0,

.varies.bO(t).sub.k=.varies.bO(t).sub.k-1+b,

.varies.bO(t).sub.k=bk=2.sup.INT_BITSbt.

[0053] From this counter, it is clear that bit shifting the sum by INT_BITS immediately yields the first power of t multiplied by the increment bt. It should be noted that if only linear interpolants are required, they may be calculated through the application of this counter when initializing to the constant part of the interpolant. For instance, if bt+f were required:

.varies.(f+bO(t)).sub.0=2.sup.INT_BITSf,

.varies.(f+bO(t)).sub.k=.varies.(f+bO(t)).sub.k-1+b,

.varies.(f+bO(t)).sub.k=2.sup.INT_BITSf+bk=2.sup.INT_BITS(bt+f).

[0054] Continuing with the high-order interpolant, the next counter (proportional to b multiplied by a quadratic order term in t) is defined by the "triangular" numbers as:

.varies. bO ( t 2 ) 0 = 0 , .varies. bO ( t 2 ) k = .varies. bO ( t 2 ) k - 1 + .varies. bO ( t ) k , .varies. bO ( t 2 ) k = b ( 1 2 k 2 + 1 2 k ) = b k ( k + 1 ) 2 ! , 2 ( .varies. bO ( t 2 ) k ) - ( .varies. bO ( t ) k ) = 2 2 .times. INT BITS bt 2 . ##EQU00017##

The linear part must be subtracted beforehand due to the difference in the power-of-two. This then yields the quadratic term in t, bt.sup.2, when adjusted to represent a fraction.

[0055] The next counter (and the final one required for a cubic interpolant, which is proportional to b multiplied by a cubic order term in t) is defined by the "tetrahedral" numbers as:

.varies. bO ( t 3 ) 0 = 0 , .varies. bO ( t 3 ) k = .varies. bO ( t 3 ) k - 1 + .varies. O ( t 2 ) k , .varies. bO ( t 3 ) k = b ( 1 6 k 3 + 1 2 k 2 + 1 3 k ) = b k ( k + 1 ) ( k + 2 ) 3 ! , 6 ( .varies. bO ( t 3 ) k - .varies. bO ( t 2 ) k ) + .varies. bO ( t ) = 2 3 .times. INT_BITS bt 3 , ##EQU00018##

[0056] In some embodiments in the expressions for higher powers of t, due to the differences in the power-of-two prefixed it may be possible to omit the corrections when the power of t of the error term and the power of t of the desired term are separated by some c orders of magnitude. This situation may incur acceptable levels of error for sufficiently large c. This can instead be described using the k-1.sup.th iteration to generate:

.varies. bO ( t 3 ) - 1 = 0 , .varies. bO ( t 3 ) k - 1 = b ( 1 6 k 3 - 1 6 k ) = b ( k - 1 ) k ( k + 1 ) 3 ! , 6 ( .varies. bO ( t 3 ) k - 1 ) + .varies. bO ( t ) = 2 3 .times. INT_BITS bt 3 , ##EQU00019##

[0057] By combining these powers of t, potentially with different substituted b depending on the construction of the spline polynomial, simple counters may be used to generate splines consisting of arbitrarily high-order polynomials. The incremented counters serve to increment the time variable t forward, and in so doing, generate the next discrete time slice of the intended signal.

[0058] For instance, given the interpolating spline:

.theta.'(t)=(-.theta..sub.-1+2.theta..sub.0-.theta..sub.1)t.sup.3+(2.the- ta..sub.-1-4.theta..sub.0+2.theta..sub.1)t.sup.2+(.theta..sub.0-.theta..su- b.-1)t+.theta..sub.0,

and the duty cycle interpolant:

.DELTA.'(t)=(.DELTA..sub.1-.DELTA..sub.0)t+.DELTA..sub.0,

the counters required are then:

A.sub.counter:=.varies.(.DELTA..sub.0+(.DELTA..sub.1-.DELTA..sub.0)O(t))- ,

B.sub.counter:=.varies.((.theta..sub.-1-2.theta..sub.0+.theta..sub.1)O(t- )),

C.sub.counter:=.varies.((.theta..sub.-1-2.theta..sub.0+.theta..sub.1)O(t- .sup.2)),

D.sub.counter:=.varies.((.theta..sub.-1-2.theta..sub.0+.theta..sub.1)O(t- .sup.3)),

E.sub.counter:=.varies.((.theta..sub.0+(.theta..sub.0-.theta..sub.-1)O(t- )).

[0059] To assemble .DELTA.'(t) (the duty cycle to achieve the required output power at the base frequency) and .theta.'(t) (the instantaneous phase offset with respect to the base frequency) these may be combined as:

.DELTA. ' ( t ) = .DELTA. 0 + ( .DELTA. 1 - .DELTA. 0 ) t = A counter 2 INT_BITS , ( .theta. 0 - .theta. - 1 ) t + .theta. 0 = E counter 2 INT BITS , ( 2 .theta. - 1 - 4 .theta. 0 + 2 .theta. 1 ) t 2 = 4 C counter - 2 B counter 2 2 .times. INT BITS , ( - .theta. - 1 + 2 .theta. 0 - .theta. 1 ) t 3 .apprxeq. 6 D counter 2 3 .times. INT BITS , ##EQU00020##

which are trivially added together and subtracted to produce the Boolean condition that drives the output signal.

IV. LOW BANDWIDTH OPERATION VERSUS LARGE FREQUENCY BANDWIDTH

[0060] It should also be noted that due to the power-of-two behaviors of the counter architecture, this may be applied to phase and amplitude samples spaced by power-of-two counts of the base frequency period and not just splitting the base frequency period into 2.sup.INT_BITS discrete steps. This could be used in some embodiments to provide a lower bandwidth interface, both in data usage and in frequency range about the base frequency that are addressable. In a similar vein, the phase and amplitude samples may be increased in some embodiments to have a power-of-two samples in every base frequency period to provide additional frequency bandwidth about the carrier instead.

[0061] To achieve lower data rate at the cost of reduced frequency bandwidth about the base frequency, the spline interpolant interval must be made to cover a power-of-two count of base frequency periods. This may involve increasing the number of bits of precision produced by the interpolant or decreasing the number of bits of precision of the timer counter, so that 2.sup.INT-BITS spans multiple periods. Each are addressable by the most significant bits of INT_BITS. Further, multiple progressions of the wrapped-around .theta.=t line must be supported in the spline interval in this mode of operation, making the de facto spline interval 0.ltoreq.t<2.sup.N. This decreases the accessible range of frequencies, since the maximum angular movement of the additional phase, a radians, is now spread across 2.sup.N base frequency periods. This reduces the maximum possible frequency shift.

[0062] To achieve increased frequency bandwidth about the base frequency at the expense of increased data rate, the spline interpolant interval must be reduced to cover only a power-of-two with a negative exponent (fractional) part of the base frequency period. This may involve decreasing the number of bits of precision produced by the interpolant or increasing the number of bits of precision of the timer counter. The addition of these extra data points effectively makes the spline interval 0.ltoreq.t<2.sup.-N. This increases the accessible range of frequencies as the maximum angular movement of the additional phase, a radians, is now confined to 2.sup.-N fraction of base frequency period. This increases the maximum possible frequency shift achievable.

V. ENVIRONMENTAL COMPENSATION

[0063] With traditional techniques such as frequency multipliers, dividers and phased locked loops (PLLs), it is difficult to make small or dynamic changes to the carrier frequency. As the dynamic control of a phased array requires exact phase information this implies that a digital approach, if the hardware is sufficiently capable, will be more suitable than an analog solution for prescribing precise behavior. Thus, its behavior is deterministic, easy to model and predictable compared to a system which uses analog infrastructure to achieve this level of synchronization due to delays and instabilities among other problems. As the system explicitly evaluates the phase function, the transducer impulse response can be predicted and taken into account by modeling the frequency content of the output signal. Further, with the technique described herein, by adding an accumulator onto the phase angle input into the signal generator described produces a frequency shift that may be easily controlled without affecting the relative phases in an unknown way. In the case of environmental changes, it may be that the frequency requires such small changes to keep the wavelength constant. The remainder of the system may then continue to work in units of wavelength with the guarantee that this is compensated for by the driving system at the end of the pipeline. The accumulator that adds onto the phase for all of the transducers is incremented or decremented using a value that is derived from one or more sensors, such as (for example) temperature, humidity and altitude/density sensors.

VI. FURTHER DESCRIPTION

[0064] The following paragraphs provide further description of the invention.

[0065] 1. A system comprising a digital or analog electrical signal driven by a real-time progressive polynomial spline evaluation that achieves an up-sampling by a power-of-two factor using a linear combination of counters.

[0066] 2. A system comprising a digital or analog electrical signal whose instantaneous phase angle is substantially calculated by a real-time progressive polynomial spline evaluation that achieves an up-sampling by a power-of-two factor using a linear combination of counters.

[0067] 3. A system comprising a digital electrical signal whose state is calculated by comparing the difference between the current position in the base frequency cycle and the instantaneous phase angle to the proportion of cycle duty that would be present at the base frequency.

[0068] 4. The system of claims 1, 2 or 3 where the polynomial spline interval is a base frequency period.

[0069] 5. The system of claims 1, 2 or 3 where the polynomial spline interval is a power-of-two count of base frequency periods.

[0070] 6. The system of claims 1, 2 or 3 where the polynomial spline interval is a power-of-two fraction of the base frequency period.

[0071] 7. The system of claims 1-6 where the phase angle is modified by a rolling counter incremented by a value driven by external sensors monitoring the environment.

[0072] 8. The system of claims 1-6 where the phase angle is modified by a rolling counter decremented by a value driven by external sensors monitoring the environment.

VII. CONCLUSION

[0073] While the foregoing descriptions disclose specific values, any other specific values may be used to achieve similar results. Further, the various features of the foregoing embodiments may be selected and combined to produce numerous variations of improved haptic systems.

[0074] In the foregoing specification, specific embodiments have been described. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the invention as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of present teachings.

[0075] Moreover, in this document, relational terms such as first and second, top and bottom, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," "has", "having," "includes", "including," "contains", "containing" or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises, has, includes, contains a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises . . . a", "has . . . a", "includes . . . a", "contains . . . a" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises, has, includes, contains the element. The terms "a" and "an" are defined as one or more unless explicitly stated otherwise herein. The terms "substantially", "essentially", "approximately", "about" or any other version thereof, are defined as being close to as understood by one of ordinary skill in the art. The term "coupled" as used herein is defined as connected, although not necessarily directly and not necessarily mechanically. A device or structure that is "configured" in a certain way is configured in at least that way but may also be configured in ways that are not listed.

[0076] The Abstract of the Disclosure is provided to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. In addition, in the foregoing Detailed Description, various features are grouped together in various embodiments for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive subject matter lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separately claimed subject matter.