I do not have any specific technics. Just lie down, think and do nothing, and 'sleep'.
But I do know that if I kept thinking of the situations I wanted to be in and picture it in my mind before I drift off to 'sleep', I'll get Full lucidity.
There were consequences of course: Weariness (to whatever thats causing all these to happen so Naturally)
And so.. -wow..- how do you know? Thats exactly how I feel every night!!