in
the
scanning
optics
created
apparen
t
noise
whic
h
w
as
atten
uated
b
y
an
a
v
eraging
lter
running
on
the
host
computer
The
scan
rate
did
attain
Hz
limited
b
y
the
demo
dulation
lter
cuto
along
with
the
size
of
the
pac
k
et
transmitted
after
eac
h
scan
A
faster
comm
unications
path
could
ha
v
e
b
een
established
to
send
more
data
to
the
host
The
curren
tly
attainable
Hz
rate
w
as
fast
enough
for
our
applications
ho
w
ev
er
It
is
an
in
teresting
problem
in
deciding
ho
w
m
uc
h
pro
cessing
the
host
m
ust
do
It
w
ouldn t
b
e
inconceiv
able
to
ha
v
e
all
of
the
em
b
edded
pro
cessing
running
on
the
host
requiring
only
t
w
o
fast
sampling
c
hannels
The
radial
scan
also
adds
limitations
since
the
laser
b
eam
mo
v
es
faster
as
it
trac
ks
farther
from
the
source
The
lev
el
of
resolv
able
detail
th
us
decreases
with
range
not
allo
wing
smaller
ob
jects
to
b
e
detected
far
a
w
a
y
Although
our
system
could
nd
nger sized
ob
jects
at
a
meter
radius
when
scanning
at
Hz
extended
range
could
b
e
attained
b
y
slo
wing
the
scan
rate
or
raising
the
demo
dulation
lter
cuto
p
oten
tially
passing
more
noise
ho
w
ev
er
The
parts
cost
of
the
system
w
as
b
elo
w
This
could
b
e
reduced
further
with
additional
in
tegration
In
addition
more
careful
design
of
the
fron
t end
elec
tronics
and
p
ossibly
the
in
tro
duction
of
an
IF
gain
stage
could
remo
v
e
the
necessit
y
of
the
a
v
alanc
he
photo
dio
de
whic
h
dominates
the
parts
cost
allo
wing
a
m
uc
h
less
exp
ensiv
e
PIN
photo
dio
de
to
b
e
used
in
its
place
An
imp
ortan
t
consideration
is
also
the
safet
y
of
suc
h
a
system
The
mW
laser
dio
de
had
a
dut
y
cycle
This
along
with
the
activ
e
dynamic
p
o
w
er
con
trol
of
the
laser
should
b
e
enough
to
mak
e
it
safe
for
brief
p
erio
ds
of
ey
e
exp
osure W
eh
The
visible
laser
added
the
in
trinsic
abilit
y
of
b
eing
extra
careful
in
k
eeping
it
a
w
a
y
from
the
ey
es
as
the
ash
is
noticeable