On average it takes most people 90 minutes to cycle through the various stages of sleep, with REM being at the tail end of that cycle.
This process continues throughout the night with the period spent in REM becoming longer with each cycle (and in turn a lower amount of time spent in the other stages.)
Stage 4 (the deepest stage) in general will cease after the first two 90 minute cycles. And after normally three 90 minute cycles (or around 5 hours sleep), you will be cycling only through stages 1, 2 and REM - It is at this point that REM becomes most prolonged.
So with a little thought, if you set an alarm to awake you after either:90,180, 270,360,450 minutes you will be either in REM or just finishing a period of REM. Clearly the later periods of REM are best suited for Lucid Dream practice, as you get more time spent in REM for your efforts.
Obviously deduct some time from these numbers if you want to awaken before or definitely during REM.
Remember though that this is an "average", and each of us has a unique sleep cycle, which can vary somewhat between indivduals. Experiment with the template outlined above, and find what works best for you.
Hope that helps a little.
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