An adjustable two-dimensional lamellar grating system including a lamellar grating and a movable mirror disposed substantially parallel to one another, and an interferometer using the adjustable lamellar grating system. A leading edge of a first recording pulse of the recording pulses shifts at a shifting value, and the shifting value is determined by a combination of a length of M of a mark being currently written and a length s of a space precedent to the mark. The display manager sends the multiple video signals to a projector which projects the multiple video signals on the curved display. Because the control system is open and does not constrain the end user to a single robotics system, mobile platform, or peripheral hardware and software, the control system may be used to assist with a multitude of missions beyond explosive hazard detection and clearance. Furthermore, if any flow is disposed during a transfer from a packet transferring unit provided in a routing and transferring unit to a processing unit, the packet is disposed regardless of the packet priority. A first image of the lens at a first position in the container is obtained, the lens then being moved to a second position within the container where a second image is obtained.