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Solid State Automotive LiDAR: Physics Principles,
Design Challenges, and New Developments
Slawomir Piatek
New Jersey Institute of Technology &
Hamamatsu Photonics, Bridgewater, NJ
06.2. 2020
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■ LiDAR Concepts: ToF & FMCW
■ Light Sources & Beam Steering
■ Solid State (Flash) LiDAR
Index
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LiDAR Concepts
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Basic Layout of Time of Flight LiDAR
start pulse
stop pulse
laser
target
photodetector
timer
beam steering
system
Distance d = Δ𝑡 ∙ 𝑐/2
Measure the time of flight Δ𝑡
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FMCW LiDAR: Heterodyne Mixing
tunable
laser
BS
M
receiving optics
collimator
PD
returned light
M
M
M
M
to target
optical mixing
occurs on the
detector
frequency
shifter
electronics
Legend:
𝑓𝐿𝑂 – Local oscillator frequency
𝑓𝑜𝑓𝑓𝑠𝑒𝑡 – Offset frequency added by the frequency shifter, ~10 – 100 MHz
𝑓𝑃𝑂 – Power oscillator frequency of transmitted light
𝑓𝑎 – Frequency of returned light; Δf due to distance and Doppler’s effect
These are instantaneous values
𝑓𝐿𝑂
𝑓𝑃𝑂 = 𝑓𝐿𝑂 + 𝑓𝑜𝑓𝑓𝑠𝑒𝑡
𝑓𝑎 = 𝑓𝐿𝑂 + 𝑓𝑜𝑓𝑓𝑠𝑒𝑡 + Δ𝑓
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Example of Frequency Modulation: Double Linear Ramp
time
frequency
T ~ 10’s μs – 1 ms, B ~ 100’s MHz – 10’s GHz
0time
frequency
𝐵𝑓0 𝑓0𝑓𝑚𝑎𝑥 𝑓𝑚𝑎𝑥
0 𝑇 2𝑇
𝑓0
𝑓𝑚𝑎𝑥
𝑇 2𝑇
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Frequency Shift in FMCW LiDAR
time
local oscillator
received wave
𝑑 =𝑐 𝑓𝐵1 + 𝑓𝐵2 𝑇
8𝐵𝑣𝑟 =
𝑐 𝑓𝐵2 − 𝑓𝐵14𝑓0
𝛿𝑑 =𝑐
2𝐵𝛿𝑣𝑟 =
𝑐
𝑓0𝑇
Δ𝑡
𝑓𝐵1
𝑓𝐷
𝑓𝐵2
𝑇
𝐵
𝑓0
𝑓(𝑡)
𝑓𝑚𝑎𝑥
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Heterodyne Optical Mixing
PDBS
fa
fLO
measure thisamplification!
𝐸𝑡𝑜𝑡2 = 𝐸𝑎 + 𝐸𝐿𝑂
2 = 𝐴𝑎 cos 2𝜋𝑓𝑎𝑡 + 𝜑𝑎 + 𝐴𝐿𝑂 cos 2𝜋𝑓𝐿𝑂 + 𝜑𝐿𝑂2
𝐸𝑡𝑜𝑡2 = 𝐸𝑎
2 + 𝐸𝐿𝑂2 + 𝐴𝑎𝐴𝐿𝑂 cos 2𝜋 𝑓𝑎 − 𝑓𝐿𝑂 𝑡 + 𝜑𝑎 − 𝜑𝐿𝑂
𝑃𝑠𝑖𝑔 = 𝑃𝑎 + 𝑃𝐿𝑂 + 2 𝑃𝑎𝑃𝐿𝑂 cos 2𝜋 𝑓𝑎 − 𝑓𝐿𝑂 𝑡 + 𝜑𝑎 − 𝜑𝐿𝑂
𝑖𝑠𝑖𝑔 =𝜂𝑒𝑃𝑠𝑖𝑔
ℎ𝑓= 𝑖𝑎 + 𝑖𝐿𝑂 + 2 𝑖𝑎𝑖𝐿𝑂 cos 2𝜋 𝑓𝑎 − 𝑓𝐿𝑂 𝑡 + 𝜑𝑎 − 𝜑𝐿𝑂
Δ𝑓 = 𝑓𝑎 − 𝑓𝐿𝑂 − 𝑓𝑜𝑓𝑓𝑠𝑒𝑡
Δ𝑓 gives 𝑑 and 𝑣𝑟
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Comparison Between ToF & FMCW Concepts
ToF FMCW
Pros
Easy optical layout
Easy distance calculation
Any wavelength of light can be used Pros
Optical amplification of the returned signal
Photon shot noise detection possible
Immunity to background and interference
Cons
Large detection bandwidth →increased noise
Weak returned signal
Susceptible to background and
interference Cons
Complex optical layout
Expensive tunable laser with a long
coherence length needed
Complex distance and velocity calculation
Gives both distance and radial velocity
of the target
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Light Sources & Beam Steering
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Light Sources
ToF FMCW
High peak power: ~ 100 W
Short-duration pulses: ~ few ns
Repetition period: ~ ms - μs
Wavelength: NIR, e.g., 905 nm, 1550 nm
Tunable output frequency
Coherence length 𝐿 > 2𝑑𝑚𝑎𝑥
Stable phase
some light source offerings by Hamamatsu
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905 or 1550?
905 nm 1550 nm
Figure from Matson et al. 1983
Solar irradiance at sea level
𝑃𝐵 @ 905 nm > 𝑃𝐵 @ 1550 nm S
pect
ral i
rrad
ianc
e μ
W c
m-2
nm-1
Wavelength [nm]
Solar background at 905 nm is higher than at 1550 nm
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905 or 1550?
H2O absorption @ 1550 nm > (100×) @ 905 nm
From Wojtanowski et al. 2014
Wavelength [nm]
Ab
so
rptio
n c
oe
ffic
ien
t o
f w
ate
r [c
m-1
]
Reference: “Comparison of 905 nm and 1550 nm semiconductor laser rangefinders’ performance deterioration due to adverse
environmental conditions,” Wojtanowski et al. 2014
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905 or 1550?
1550 nm
- Requires IR (non-silicon) photodetectors
+ Best eye safety
905 nm
+ Lower background
+ Better transmission in atmosphere
+ Silicon-based photodetector
+ Coherence length 𝐿 ∝𝜆2
𝐵
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Mechanical Beam Steering: Rotating Platform
𝜔
Each laser is matched with its own detector Scan direction
Horizontal sweep
Vertical sweep
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Mechanical Beam Steering: Galvo Mirrors
ω
ω
Laser
𝑥 − 𝑦 scan
Rotating Galvo mirrors are another example of a mechanical beam steering.
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Beam Steering: Optical Phase Array
Laser
Amplitude & phase
control unit
Beam in the far field
Amplitude and phase of the light emitted by
each pixel (emitter) can be controlled
electronically.
Optical phased array is an example of a solid state or ”no moving parts” beam steering.
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OPA Emitter and Receiver
Light feed for
emission
Local oscillator
light for optical
amplification
emitted beam detected beam
Control unit
Current output
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LiDAR Based on OPA Emitter and Receiver
First prototype of a FMCW LiDAR that uses
optical phased arrays for beam steering and
light detection.
The figure is from “Coherent solid-state LIDAR with silicon
photonic optical phased arrays” by Poulton et al. 2017
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Beam Steering: Flash and Structured Light
Array of lasers such as
VCSELs
Laser and pulse
expander
Divergent pulse of light
■ Wider the angle, smaller the surface brightness
■ For a Gaussian beam, the surface brightness is
not uniform
■ Lateral resolution limited by the 2D sensor
■ Beams have the same intensity
■ Lateral resolution limited by the angular
separation between the beams
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Solid State (Flash) LiDAR
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Basic Layout of ToF Flash LiDAR
projector
to the target𝜃𝑒
𝜃𝑑
focal plane array
control unit
𝑓
The emission FOV, 𝜃𝑒, should be matched with the detection FOV, 𝜃𝑑.
2D detector
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Focal Plane Distance Measurement
Focal plane
image of the scene
detector array
A single “pixel” in the 2D detector determines distance to a single element of the scene.
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Distance Resolution
𝛿𝑑 =𝑐
2𝐵
𝛿𝑑
𝐵~1
𝑇𝑇 − pulse duration
For 𝑇 = 5 ns, 𝛿𝑑 ≈ 0.75 m → 𝐵 ≈ 200 MHz
(distance resolution)
Better distance resolution requires pulses of even shorter duration. The limitation is in the laser
technology (parasitic inductance).
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Distance Uncertainty
𝜎𝑑2~
𝛿𝑑 2
𝑆/𝑁=
𝑐2
4𝐵2𝑆/𝑁
𝑑
𝜎𝑑
𝑑
(distance uncertainty)
1. The larger the 𝑆
𝑁, the smaller the uncertainty, all else being the same
2. Photodetector and electronic time jitters also contribute to the uncertainty.
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Photon Budget: Single Photodetector
TX
𝑃 𝑑 = 𝑃0𝜌𝐴0𝜋𝑑2
𝜂0𝑒−2𝛾𝑑
𝑃 𝑑 − Peak power received
𝑃0 − Peak power transmitted
𝜌 − Target reflectivity
𝐴0 − Aperture area of the receiver
𝜂0 − Receiving optics transmission
𝛾 − Atmospheric extinction coefficient
Lambertian reflection
Laser spot smaller than the target
Normal incidence
𝛾 is constant
Assumptions:
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Photon Budget: Single Photodetector
𝑃 𝑑 = 𝑃0𝜌𝐴0𝜋𝑑2
𝜂0𝑒−2𝛾𝑑
Example: 𝑃0 = 100 W, 𝜌 = 0.1, 𝐴0 = 3.14 × 10−4 m2, 𝜂0 = 0.5, 𝛾 = 0.5 km-1
for 𝒅 = 𝟏𝟎𝟎 m, 𝑷 = 𝟒𝟓 nW
Reference: “Comparison of 905 nm and 1550 nm semiconductor laser rangefinders’ performance deterioration due to adverse
environmental conditions,” Wojtanowski et al. 2014
1. Atmospheric extinction 𝛾 depends on weather conditions and wavelength. Its value can range
from about 4 km-1 to about 0.1 km-1 at 905 nm.
2. For a square 5-ns pulse (𝜆 = 905 nm), the number of emitted photons is ~2.3 × 1012 and the
number of received is ~1 × 103.
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Photon Budget: Flash
TX
RX
There is a tradeoff between spatial resolution and 𝑆
𝑁.
𝐴
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Photon Budget: Flash
𝑃 𝑑 = 𝑃0𝜌𝜃𝑝2
Θ2𝐴0𝜋𝑑2
𝜂0𝑒−2𝑑𝛾
(received peak power per pixel)
𝜃𝑝 − angular subtense (field of view) of a pixel
Θ − angular field of view of the pulse projector (pulse divergence)
Reference: “Comparison of flash lidar detector options,” McManamon et al. 2017
Note that 𝜃𝑝 ≪ Θ, so if the pulse peak power is the same, the amount of light received by a single
pixel is proportional to 𝜃𝑝2
Θ2for a given distance 𝑑.
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Photodetection (Single Element)
TIA PD
Trigger
circuit
Pulse of light
Optical bandpass filter
Focal plane
To timerFOV
■ Active area of the photodetector, focal length of the lens, and placement of the optical bandpass
filter determine the photodetector’s field of view.
■ Avalanche photodiode or silicon photomultiplier are commonly used photodetectors.
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Noise in Transimpedance Amplifier
−
+
𝑣𝑛
𝑅𝐹
𝐶𝑓
𝑖𝐽
𝐶𝑜𝑝𝑖𝑛
𝑒𝑛
𝑖𝑑𝑖𝑝ℎ
𝑅 = 𝑅𝑆𝑖𝑃𝑀||𝑅𝑜𝑝
𝐶𝑡 + 𝐶𝑆𝑅
𝑣𝑛 = 𝑒𝑛2 1 +
𝑅𝐹𝑅
2
+4𝜋2
3Δ𝑓 2𝐶𝑇
2𝑅𝑓2 + 𝑅𝑓
2𝑖𝑇2 + 4𝑘𝑇𝑅𝑓
1/2
Δ𝑓 1/2
𝐶𝑇 = 𝐶𝑡 + 𝐶𝑓 + 𝐶𝑜𝑝 + 𝐶𝑠
𝑖𝑇 = 𝑖𝑛2 + 𝑖𝐽
2 + 𝑖𝑑2 + 𝑖𝑝ℎ
2
All else being equal, noise increases with terminal capacitance of the photodetector.
(total capacitance)
noise output
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Bandwidth and Stability of Transimpedance Amplifier
−
+
𝑣𝑜𝑢𝑡
𝑅𝐹
𝐶𝑗
Simplified equivalent circuit of a photodetector
connected to an uncompensated TIA
𝐼
𝑣𝑜𝑢𝑡 = 𝐼−𝑅𝑓
1 +1
𝐴𝑜𝑙𝛽
𝐴𝑜𝑙 − Open loop gain of TIA
𝛽 𝑗𝜔 =1
1 + 𝑗𝜔𝑅𝐹𝐶𝑖
where 𝐶𝑖 = 𝐶𝑗 + 𝐶𝑜𝑝
1
𝛽(𝑗𝜔)= 1 + 𝑗𝜔𝑅𝐹𝐶𝑖
𝑓𝐹 𝑓𝑖 𝑓𝐺𝐵𝑊𝑃
Gain peaking and
oscillations occur around
this frequency
𝑓𝐺𝐵𝑊𝑃 − Unity gain bandwidth of the op-amp
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Bandwidth and Stability of Transimpedance Amplifier
Simplified equivalent circuit of a compensated
photodiode connected to an uncompensated TIA
𝐶𝐹
𝑓𝐹 𝑓𝑖 𝑓𝐺𝐵𝑊𝑃
𝑓𝐹 =1
2𝜋𝑅𝐹 𝐶𝑖 + 𝐶𝐹𝑓𝑖 =
1
2𝜋𝑅𝐹𝐶𝐹
𝐶𝐹 =1
4𝜋𝑅𝐹𝑓𝐺𝐵𝑊𝑃1 + 1 + 8𝜋𝑅𝐹𝐶𝑖𝑓𝐺𝐵𝑊𝑃
(Optimal value of the compensating capacitor)
−
+
𝑣𝑜𝑢𝑡
𝑅𝐹
𝐶𝑗𝐼
𝛽 𝑗𝜔 =1 + 𝑗𝜔𝑅𝐹𝐶𝐹
1 + 𝑗𝜔𝑅𝐹(𝐶𝑖+𝐶𝐹)
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Importance of Noise and Bandwidth
time
High bandwidth → higher noise but high fidelity
trigger level
trigger time
time
Low bandwidth → lower noise and lower fidelitytrigger level
trigger time
flat top
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Importance of Excess Noise (F)
time
Sig
nal
Fixed trigger level
Constant fraction trigger
Waveform 1
Waveform 2
Fixed trigger level gives different round-trip-times, Δ𝑡1 ≠ Δ𝑡2 ✖
Constant-fraction trigger gives the same round-trip-times, Δ𝑡1 = Δ𝑡2 ✔
Δ𝑡1 = Δ𝑡2
Δ𝑡1 Δ𝑡2
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Takeaway
Analog photodetection in ToF LiDAR, especially in flash LiDAR, is very challenging.
Is there anything else we can do?
What about a statistical measurement using SPAD?
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Single-Photon Avalanche Photodiode (SPAD)
steady state
transient
quench
recharge
𝑅𝑄 must be large enough to ensure quenching
quasi-stable “ready”
state
(Quench resistor)
(Load resistor)
𝑅𝑄
𝑉𝐵𝐼𝐴𝑆
𝑅𝑙
𝑆𝑃𝐴𝐷
𝑅𝑄 ≫ 𝑅𝑙
𝐼𝑆𝑃𝐴𝐷
𝑉𝐵𝐼𝐴𝑆𝑅𝑄
𝑉𝐵𝐷 𝑉𝐵𝐼𝐴𝑆 𝑉𝑆𝑃𝐴𝐷
𝑣𝑜
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Measuring Distance with a Single SPAD
t = 0
time
timer
targetSPAD
laser
Puls
e e
mis
sio
n
𝑡 = 𝑇
Δ𝑡 =2𝑑
𝑐
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Measuring Distance with a Single SPAD
time
𝑡 = 0 𝑡 = 𝑇Δ𝑡 =
2𝑑
𝑐
Multiple pulse illumination provides distance information to the target. The information comes
from a histogram of trigger times.
Histogram of trigger times
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SPAD Arrays
Micro-bumps
ASIC
(application-specific integrated circuit)
Photodetector array
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Detection Techniques with a SPAD Array
Time gating:
𝑡 = 0 𝑡 = 𝑇
Time window
Only the events in the pre-defined time window are counted. The choice of the time window
depends on the expected knowledge of the target distance.
Pixel 1
Pixel 2
Pixel 3
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Detection Techniques with a SPAD Array
Temporal and spatial correlation:
𝑡 = 0 𝑡 = 𝑇𝑡 = 𝑡1
𝑡 = 𝑡1
𝑡 = 𝑡1
Event not counted: temporal
correlation but no spatial
correlation.
Pixel 1
Pixel 2
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Detection Techniques with a SPAD Array
Temporal and spatial correlation:
𝑡 = 0 𝑡 = 𝑇𝑡 = 𝑡1
𝑡 = 𝑡1
𝑡 = 𝑡2
Event not counted: spatial correlation but
no temporal correlation.
𝑡 = 𝑡2
Pixel 1
Pixel 2
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Detection Techniques with a SPAD Array
Temporal and spatial correlation:
𝑡 = 0 𝑡 = 𝑇𝑡 = 𝑡1
𝑡 = 𝑡1
𝑡 = 𝑡1
Event counted: spatial correlation but
no temporal correlation.
Pixel 1
Pixel 2
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SPAD Pixel for Correlated Detection
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SPAD Pixel for Correlated Detection
Pulse
coincidence
detection
Signal photon
Background photon
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Comments
1. This technique can be used both in a scanning and flash LiDAR.
2. In a scanning LiDAR, an OPA array is well-suited for beam steering.
3. The greatest advantage is a reduced sensitivity to the background light.
4. Additional advantages: less affected by gain variations, sensitivity in IR (using non-silicon
structures), compatible with CMOS-based ASICs.
5. Challenges: SPAD arrays can exhibit crosstalk and high dark count rates.
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Hamamatsu Assists LiDAR Companies
Photodetectors (Silicon or InGaAs, PIN, APD, SiPM, SPAD and more) for all LiDAR concepts
Light sources (PLDs or VCSELs) for selected LiDAR concepts
Custom integrated optical assemblies, from front-end electronics to complete ASICs
Support automotive grade qualifications (AEC, ISO and more)
Full customization of photodetectors, light sources, and optical assemblies
Because of our wide offering of optical components, Hamamatsu is unbiased
when recommending the correct detector and/or light source to each unique
LiDAR concept (customer) in the market.
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Photodetectors for LiDARS (850 nm – 940 nm)
Si PIN photodiode Si APD
High Photosensitivity;
Internal Gain = 1
High Photosensitivity;
Internal Gain ~ 100
SPPC (or SPAD)
Low Photosensitivity;
Internal Gain ~ 105 to 106
MPPC (or SiPM)
Low Photosensitivity;
Internal Gain ~ 105 to 106
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Photodetectors for LiDARS (1550 nm)
InGaAs APD
Wavelength [nm]
Photo
sensitiv
ity [A
/W]
High Photosensitivity;
Internal Gain ~10-20
Wavelength [nm]
Photo
sensitiv
ity [A
/W]
InGaAs PIN PD
High Photosensitivity;
Internal Gain – 1
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Closing Remarks
1. Two distinct LiDAR systems, ToF and FMCW, are actively researched
2. Each system presents a unique set of engineering challenges
3. Beam steering and photodetection are the two most outstanding challenges
4. Flash LiDAR together with a SPAD-based statistical detection is a new avenue of research
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Thank you
Thank you for listening
Contact information:
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1 Weeks Break
4 Specialty Products – Introduction to Light Sources & X-Ray 2 23-Jun-20 25-Jun-20
5 Introduction to Image Sensors 2 30-Jun-20 02-Jul-20
1 Weeks Break
6 Specialty Products – Laser Driven Light Sources 2 14-Jul-20 16-Jul-20
7 Image Sensor Circuits and Scientific Camera 2 21-Jul-20 23-Jul-20
8 Mid-Infrared (MIR) Technologies & Applications 2 28-Jul-20 30-Jul-20
1 Weeks Break
9 Photon Counting Detectors – SiPM and SPAD 1 11-Aug-20
10 Using SNR Simulation to Select a Photodetector 1 18-Aug-20
To register and attend other webinar series, please visit link below:
https://www.hamamatsu.com/us/en/news/event/2020/20200526220000.html
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