How can I lucid dream without having to wake up and go back to sleep? I have gotten good enough at WBTB that my only challenge is how much tim I get to sleep at night.

So now I want to learn how to cuase lucid dreams by other means, so I can have them more than just on weekends. What can I do that doesnt involve waking up early in the morning? Techniques?

Also how can I make my lucid dreams last more than a few minutes, while I'm at it?