Hello Procheus welcome to DV 
Each sleep cycle lasts for around 90 minutes. As the night goes by, the amount of time you spend in REM during those 90 minutes increases. Ideally, this means you want to set up an alarm for 4:30, 6, or 7:30 hours after going to bed. The deal is this may require some tweaking depending on your sleep pattern. If you take a bit longer to fall asleep, you might have to drag the hour for the alarm a bit. It's all about experimentation, so work around until you find your "sweet spot". As you may have realized by now, having a regular sleeping schedule helps a lot.
About MILD, the best time to induce it is....always! MILD relies on your improvement of prospective memory, also known as your ability to remember to do something in the future. This means you can improve naturally during the day by setting exercises as simple as "I will remember to make a reality check whenever I arrive at a new place" or "I will question myself to see if I'm dreaming whenever I feel nervous". When you go bedtime, define your intention, knowing the more specific it is, the better. For example "whenever I see X person I will make a reality check" works great if you have someone who is a recurrent dream character. When you wake up at night, reinforce your intention and visualize yourself remembering it during a dream. The good thing about getting up in the middle of the night is that the time you spend awake is a optimal opportunity to boost your awareness and to strengthen your intention.
Good luck!
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