Abstract: A lidar system that includes a laser source can be controlled to fire laser pulse shots from the laser source at a variable rate of firing those laser pulse shots. The fired laser pulse shots can include scheduled laser pulse shots that are targeted at range points in the field of view. The fired laser pulse shots can also include marker shots that bleed energy out of the laser source in order to avoid reaching a threshold for available energy in the laser source and/or regulate energy amounts for the targeted laser pulse shots. A laser energy model that models how much energy is available from the laser source for laser pulse shots over time can be used to model future available energies for the laser source and determine whether any marker shots should be fired.

Abstract: A lidar system that includes a laser source and a scannable mirror can be controlled to schedule the firing of laser pulse shots at range points in a field of view. A first mirror motion model can be used to govern the scheduling of the laser pulse shots, and a second mirror motion model can be used to govern when firing commands are to be generated for the scheduled laser pulse shots. The first and second mirror motion models model motion of the scannable mirror over time. A system controller can use the first mirror motion model as a coarse mirror motion model for the purpose of shot scheduling, while a beam scanner controller can use the second mirror motion model as a fine mirror motion model for the purposes of generating firing commands for the laser source.

Abstract: A lidar receiver can employ multiple readout channels that are capable of simultaneously reading out sensed signals from different pixel sets of a photodetector array in order to detect different returns from different laser pulse shots. In doing so, the lidar receiver can support the use of overlapping detection intervals when collecting signal data for detecting the different returns from the different laser pulse shots.

Abstract: A lidar system that includes a laser source and a scannable mirror can be controlled to adaptively schedule the firing of laser pulse shots at range points in a field of view. A first plurality of laser pulse shots that are fired during a scan of the mirror in a first scan direction can trigger the detection of a region of interest in the field of view. In response to this detection, a second plurality of laser shots targeting the region of interest can be scheduled for the next return scan of the mirror in the opposite direction.

Abstract: A lidar system comprises a photodetector circuit and a signal processing circuit. The photodetector circuit comprises an array of pixels for sensing incident light. The signal processing circuit processes a signal representative of the sensed incident light to detect a reflection of a laser pulse from a target within a field of view. The signal processing circuit can comprise a matched filter corresponding to a retro-reflective target that is tuned to a reflected pulse shape that exhibits a vertical clipping relative to a transmitted pulse shape for the laser pulse that is indicative of the retro-reflective target, and wherein the signal processing circuit determines a retro-reflector status for the target based how the matched filter responds to the applied signal.

Abstract: A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view via a mirror that scans through a plurality of scan angles can use (1) a laser energy model to model the available energy in the laser source over time and (2) a mirror motion model to model motion of the mirror over time. Time slots for transmitting the targeted laser pulses can be identified using the mirror motion model, and a schedule for these pulses can be determined using energies predicted for the pulses at these time slots according to the laser energy model. Linking the model of mirror motion with the model of laser energy provides highly precise granularity when scheduling laser pulses targeted at specific range points in the field of view.

Abstract: A lidar system comprises (1) an array of pixels for sensing incident light and (2) a circuit for processing a signal representative of the sensed incident light to detect a reflection of a laser pulse from a target within a field of view. The circuit can comprise a plurality of matched filters that are tuned to different reflected pulse shapes for detecting pulse reflections within the incident light, and wherein the circuit (1) applies the signal to the matched filters to determine an obliquity for the target based how the matched filters respond to the applied signal and (2) determines a correction angle based on the determined target obliquity, the correction angle for orienting the field of view to a frame of reference in response to a tilting of the lidar system. In an example embodiment, the circuit can comprise a signal processing circuit that performs the signal application and correction angle determination operations.

Abstract: A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view via a mirror that scans through a plurality of scan angles can use (1) a laser energy model to model the available energy in the laser source over time and (2) a mirror motion model to model motion of the mirror over time. The mirror can exhibit a variable scan amplitude, and a control circuit can then evaluate whether benefits such as a shorter completion time for firing laser pulse shots at a list of range points can be achieved by changing the mirror's scan amplitude. When making such decisions, the control circuit can take into account a settle time for the variable amplitude mirror that arises from changing the mirror's scan amplitude.

Abstract: A lidar receiver can employ multiple processors to distribute the workload of processing returns from laser pulse shots.

Abstract: A lidar system that includes a laser source can be controlled to schedule the firing of laser pulse shots at range points in a field of view. As part of this scheduling, the system can prioritize which elevations will be targeted with shots before other elevations based on defined criteria. Examples of such criteria can include prioritizing elevations corresponding to a horizon, prioritizing elevations which contain objects of interest (e.g., nearby objects, fast moving objects, objects heading toward the lidar system, etc).

Abstract: A lidar system that includes a variable energy laser source and transmits laser pulses produced by the variable energy laser source toward range points in a field of view can use a laser energy model to model the available energy in the variable energy laser source over time. The timing schedule for laser pulses fired by the lidar system can then be determined using energies that are predicted for the different scheduled laser pulse shots based on the laser energy model. This permits the lidar system to reliably ensure at a highly granular level that each laser pulse shot has sufficient energy to meet operational needs, including when operating during periods of high density/high resolution laser pulse firing. The laser energy model is capable of modeling a variable rate of energy buildup in the variable energy laser source per unit time.

Abstract: A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view can use a laser energy model to model the available energy in the laser source over time. The timing schedule for laser pulses fired by the lidar system can then be determined using energies that are predicted for the different scheduled laser pulse shots based on the laser energy model. This permits the lidar system to reliably ensure at a highly granular level that each laser pulse shot has sufficient energy to meet operational needs, including when operating during periods of high density/high resolution laser pulse firing. The laser energy model is capable of modeling the energy available for laser pulses in the laser source over very short time intervals (such as 10-100 nanoseconds).

Abstract: A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view via a mirror that scans through a plurality of scan angles can use (1) a laser energy model to model the available energy in the laser source over time and (2) a mirror motion model to model motion of the mirror over time. Time slots for transmitting the targeted laser pulses can be identified using the mirror motion model, and a schedule for these pulses can be determined using energies predicted for the pulses at these time slots according to the laser energy model. Linking the model of mirror motion with the model of laser energy provides highly precise granularity when scheduling laser pulses targeted at specific range points in the field of view.

Abstract: A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view can use a laser energy model to model the available energy in the laser source over time. The timing schedule for laser pulses fired by the lidar system can then be determined using energies that are predicted for the different scheduled laser pulse shots based on the laser energy model. This permits the lidar system to reliably ensure at a highly granular level that each laser pulse shot has sufficient energy to meet operational needs, including when operating during periods of high density/high resolution laser pulse firing. The laser energy model is capable of modeling the energy available for laser pulses in the laser source over very short time intervals (such as 10-100 nanoseconds).

Abstract: A lidar system that includes a laser source and a scannable mirror can be controlled to maximize the firing of laser pulse shots per scan line of the scannable mirror. For example, a control circuit for the lidar system can (1) process a pool of range points to be targeted with a plurality of shots from the laser source, (2) schedule shots for a single scan of the mirror along the first axis in a given scan direction to target as many of the range points from the pool as permitted by a laser energy model as compared to a plurality of energy requirements relating to the shots, and (3) control a firing of the scheduled shots during the single scan of the mirror in the given scan direction so that the scheduled shots are fired into the field of view toward the targeted range points via the mirror.

Abstract: An adapter assembly includes an elongated body configured to couple to a handle assembly and a loading unit assembly. The adapter assembly includes an oscillator configured to output a voltage signal. A sensor determines a connection status of the loading unit assembly coupled to the adapter assembly based on a change in the voltage signal. The voltage signal includes a rectified voltage output and an induced voltage output and changes in response to the approximation of a winding disposed within a loading unit assembly to the oscillator.

Abstract: The present disclosure relates to hand held electromechanical powered surgical handle assemblies for use with surgical end effectors capable of clamping, cutting and/or stapling tissue and methods of use thereof. The surgical device includes a handle assembly and a drive unit assembly removably and selectively connectable to a selected first connecting feature and second connecting feature of the handle assembly. The drive unit assembly includes a motor and a drive shaft driven by the motor.

Abstract: An adapter assembly includes an elongated body configured to couple to a handle assembly and a loading unit assembly. The adapter assembly includes an oscillator configured to output a voltage signal. A sensor determines a connection status of the loading unit assembly coupled to the adapter assembly based on a change in the voltage signal. The voltage signal includes a rectified voltage output and an induced voltage output and changes in response to the approximation of a winding disposed within a loading unit assembly to the oscillator.

Abstract: The present disclosure is directed to a surgical apparatus, comprising an anvil jaw configured to form at least one surgical staple, a cartridge jaw configured to deploy one or more surgical staples against the anvil jaw, and a pressure distribution device attached to at least one of the anvil jaw and the cartridge jaw, wherein the pressure distribution device is configured to distribute a clamping pressure to a target tissue during a clamping and a stapling of the target tissue.

Abstract: The present disclosure is directed to a surgical apparatus, comprising an anvil jaw configured to form at least one surgical staple, a cartridge jaw configured to deploy one or more surgical staples against the anvil jaw, and a pressure distribution device attached to at least one of the anvil jaw and the cartridge jaw, wherein the pressure distribution device is configured to distribute a clamping pressure to a target tissue during a clamping and a stapling of the target tissue.